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Dynamic Task Allocation in Cooperative Robot Teams
Athanasios Tsalatsanis,Ali Yalcin,Kimon. P. Valavanis
International Journal of Advanced Robotic Systems , 2010,
Abstract: In this paper a dynamic task allocation and controller design methodology for cooperative robot teams is presented. Fuzzy logic based utility functions are derived to quantify each robot's ability to perform a task. These utility functions are used to allocate tasks in real-time through a limited lookahead control methodology partially based on the basic principles of discrete event supervisory control theory. The proposed controller design methodology accommodates flexibility in task assignments, robot coordination, and tolerance to robot failures and repairs. Implementation details of the proposed methodology are demonstrated through a warehouse patrolling case study.
Extended Contract Net Protocol for Multi-Robot Dynamic Task Allocation  [PDF]
Zhou Pu-Cheng,Han Yu-Sheng,Xue Mo-Gen
Information Technology Journal , 2007,
Abstract: One of most important aspects in the design of multi-robot systems is the allocation of tasks among the robots in a productive and efficient manner. This study addressed a kind of multi-robot distributed task allocation method under dynamic environments. The proposed approach is based on traditional contract net protocol and has been extended from three aspects, including task announcement strategy with case-based reasoning, selection of the contractor using multi-attribute decision theory and breach of contract mechanism. Simulation results of the pursuit problem have shown the feasibility and validity of the given algorithm.
Research on Model and Algorithm of Task Allocation and Path Planning for Multi-Robot  [PDF]
Zhenping Li, Xueting Li
Open Journal of Applied Sciences (OJAppS) , 2017, DOI: 10.4236/ojapps.2017.710037
Abstract: Based on the modeling of robot working environment, the shortest distance matrix between points is solved by Floyd algorithm. With the objective of minimizing the sum of the fixed cost of robot and the cost of robot operation, an integer programming model is established and a genetic algorithm for solving the model is designed. In order to make coordination to accomplish their respective tasks for each robot with high efficiency, this paper uses natural number encoding way. The objective function is based on penalty term constructed with the total number of collisions in the running path of robots. The fitness function is constructed by using the objective function with penalty term. Based on elitist retention strategy, a genetic algorithm with collision detection is designed. Using this algorithm for task allocation and path planning of multi-robot, it can effectively avoid or reduce the number of collisions in the process of multi-robot performing tasks. Finally, an example is used to validate the method.
Analysis of Dynamic Task Allocation in Multi-Robot Systems  [PDF]
Kristina Lerman,Chris Jones,Aram Galstyan,Maja J Mataric
Computer Science , 2006,
Abstract: Dynamic task allocation is an essential requirement for multi-robot systems operating in unknown dynamic environments. It allows robots to change their behavior in response to environmental changes or actions of other robots in order to improve overall system performance. Emergent coordination algorithms for task allocation that use only local sensing and no direct communication between robots are attractive because they are robust and scalable. However, a lack of formal analysis tools makes emergent coordination algorithms difficult to design. In this paper we present a mathematical model of a general dynamic task allocation mechanism. Robots using this mechanism have to choose between two types of task, and the goal is to achieve a desired task division in the absence of explicit communication and global knowledge. Robots estimate the state of the environment from repeated local observations and decide which task to choose based on these observations. We model the robots and observations as stochastic processes and study the dynamics of the collective behavior. Specifically, we analyze the effect that the number of observations and the choice of the decision function have on the performance of the system. The mathematical models are validated in a multi-robot multi-foraging scenario. The model's predictions agree very closely with experimental results from sensor-based simulations.
Task Allocation in Robotic Swarms: Explicit Communication Based Approaches  [PDF]
Aryo Jamshidpey,Mohsen Afsharchi
Computer Science , 2015,
Abstract: In this paper we study multi robot cooperative task allocation issue in a situation where a swarm of robots is deployed in a confi?ned unknown environment where the number of colored spots which represent tasks and the ratios of them are unknown. The robots should cover this spots as far as possible to do cleaning and sampling actions desirably. It means that they should discover the spots cooperatively and spread proportional to the spots area and avoid from remaining idle. We proposed 4 self-organized distributed methods which are called hybrid methods for coping with this scenario. In two diffe?rent experiments the performance of the methods is analyzed. We compared them with each other and investigated their scalability and robustness in term of single point of failure.
Task Coordination Organization Model and the Task Allocation Algorithm for Resource Contention of the Syncretic System  [PDF]
Danfeng Wu,Guangping Zeng,Di He,Zhaopeng Qian,Qingchuan Zhang
- , 2016, DOI: 10.1109/TST.2016.7536724
Abstract: At present, robot embedded systems have some common problems such as closure and poor dynamic evolution. Aiming at resolving this situation, our paper focuses on improvements to the robot embedded system and sets up a new robot system architecture, and we propose a syncretic mechanism of a robot and SoftMan (SM). In the syncretic system, the structural organization of the SoftMan group and its modes are particularly important in establishing the task coordination mechanism. This paper, therefore, proposes a coordination organization model based on the SoftMan group, and studies in detail the process of task allocation for resource contention, which facilitates a rational allocation of system resources. During our research, we introduced Resource Requirement Length Algorithm (RRLA) to calculate the resource requirements of the task and a resource conformity degree allocation algorithm of Resource Conformity Degree Algorithm (RCDA) for resource contention. Finally, a comparative evaluation of RCDA with five other frequently used task allocation algorithms shows that RCDA has higher success and accuracy rates with good stability and reliability.
Utility-based task allocation for multi-robot system

LI Ping,YANG Yi-min,LIAN Jia-le,

计算机应用研究 , 2009,
Abstract: The solution qualities have been ignored by most algorithms for task allocation in multi-robot system so far.This paper brought forward a task allocation strategy based on utility function.Used the utility to measure the solution quality quantificationally,in order to guiding the task allocation in multi-robot system.Constructed it based on capacity vectors of robots' and demanding in tasks,allocated tasks depending on the utility matrix.And illustrated the feasibility of this task allocation algorithm in t...
Multi-robot task allocation approach based on robotic utility function

CHEN Jian-ping,YUAN Zhao-guo,YANG Yi-min,

计算机应用研究 , 2010,
Abstract: Existing methods for task allocation are only focus on optimization algorithms without quantizing the results of task allocation. According to the deficiency of existing methods, this paper presented a new approach for multi-robot task allocation based on the robotic utility function. By using this approach, it defined the robotic utility function, and showed its solvability firstly. Then, it addressed the definition of the optimal task allocation scheme, and proved its existence and uniqueness. Finally, gave an example to illustrate that the proposed approach could efficiently solve the problem of multi-robot task allocation.
Application of a hybrid distributed multi-agent task allocation mechanism to soccer robot systems

JI Xiu-cai,CUI Lian-hu,ZHENG Zhi-qiang,

计算机应用 , 2008,
Abstract: The advantages and disadvantages of primary multi-agent task allocation mechanisms were analyzed. A hybrid distributed task allocation algorithm for the role allocation of soccer robots was presented, which combined the market-based task allocation mechanism with the regulation-based mechanism. This algorithm can dynamically allocate roles for robots, and at the same time unexpected oscillations of roles were avoided. Simulations and actual matches validate the presented algorithm.
Fair task allocation in transportation  [PDF]
Qing Chuan Ye,Yingqian Zhang,Rommert Dekker
Computer Science , 2015,
Abstract: Task allocation problems have traditionally focused on cost optimization. However, more and more attention is being given to cases in which cost should not always be the sole or major consideration. In this paper, we study a fair task allocation problem where an optimal allocation not only has low cost but more importantly, it is max-lexmin fair to all participants. To tackle this max-lexmin fair minimum cost allocation problem, we analyze and solve it in two parts. We first aim to determine the maximum number of jobs that can be feasibly done and the fairest distribution thereof. Since there may be many allocations that are considered equally fair, we then find the allocation with the minimum costs. We propose two novel polynomial-time algorithms that make use of the network flow structure of the problem to obtain the optimal solution. Furthermore, we conduct extensive experiments to investigate the trade-off between cost minimization and fairness.
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