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Scalable Task Assignment for Heterogeneous Multi-Robot Teams
| Content Provider | SAGE Publishing |
|---|---|
| Author | García, Paula Caamaño, Pilar Duro, Richard J. Bellas, Francisco |
| Copyright Year | 2013 |
| Abstract | This work deals with the development of a dynamic task assignment strategy for heterogeneous multi-robot teams in typical real world scenarios. The strategy must be efficiently scalable to support problems of increasing complexity with minimum designer intervention. To this end, we have selected a very simple auction-based strategy, which has been implemented and analysed in a multi-robot cleaning problem that requires strong coordination and dynamic complex subtask organization. We will show that the selection of a simple auction strategy provides a linear computational cost increase with the number of robots that make up the team and allows the solving of highly complex assignment problems in dynamic conditions by means of a hierarchical sub-auction policy. To coordinate and control the team, a layered behaviour-based architecture has been applied that allows the reusing of the auction-based strategy to achieve different coordination levels. |
| Related Links | https://journals.sagepub.com/doi/pdf/10.5772/55489?download=true |
| ISSN | 17298806 |
| Issue Number | 2 |
| Volume Number | 10 |
| Journal | International Journal of Advanced Robotic Systems (ARX) |
| e-ISSN | 17298814 |
| DOI | 10.5772/55489 |
| Language | English |
| Publisher | Sage Publications UK |
| Publisher Date | 2017-05-15 |
| Publisher Place | London |
| Access Restriction | Open |
| Rights Holder | © 2013 García et al.; licensee InTech. |
| Subject Keyword | Multi-Robot Coordination Behaviour-Based Architectures Auction-Based Task Assignment |
| Content Type | Text |
| Resource Type | Article |
| Subject | Artificial Intelligence Computer Science Applications Software |
