A Fast Distributed Auction and Consensus Process for Allocation of Prioritised Tasks in Multi-Robot Systems

Gautham Das; TM McGinnity; SA Coleman; Laxmidhar Behera

A Fast Distributed Auction and Consensus Process for Allocation of Prioritised Tasks in Multi-Robot Systems

Gautham Das, TM McGinnity, SA Coleman, Laxmidhar Behera

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

The effectiveness of a multi-robot system is directly related to the coordination and cooperation among the robots. Decentralised task allocation algorithms have been proposed by prior researchers as a compromise between the robustness and solution optimality, and such algorithms can easily be employed for large teams of robot. We present an auction based decentralised task allocation algorithm, for task allocation in parallel to the task execution, suitable for task allocation in dynamic environments and scalable to large robot groups. The performance of the proposed algorithm under different conditions is compared with other distributed consensus algorithms.

Original language	English
Title of host publication	Unknown Host Publication
Publisher	International Standard Recording Code
Pages	244-253
Number of pages	10
Publication status	Published (in print/issue) - 31 Aug 2011
Event	Irish Conference on Artificial Intelligence and Cognitive Science - Londonderry Duration: 31 Aug 2011 → …

Conference

Conference	Irish Conference on Artificial Intelligence and Cognitive Science
Period	31/08/11 → …

Cite this

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title = "A Fast Distributed Auction and Consensus Process for Allocation of Prioritised Tasks in Multi-Robot Systems",

abstract = "The effectiveness of a multi-robot system is directly related to the coordination and cooperation among the robots. Decentralised task allocation algorithms have been proposed by prior researchers as a compromise between the robustness and solution optimality, and such algorithms can easily be employed for large teams of robot. We present an auction based decentralised task allocation algorithm, for task allocation in parallel to the task execution, suitable for task allocation in dynamic environments and scalable to large robot groups. The performance of the proposed algorithm under different conditions is compared with other distributed consensus algorithms.",

author = "Gautham Das and TM McGinnity and SA Coleman and Laxmidhar Behera",

year = "2011",

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note = "Irish Conference on Artificial Intelligence and Cognitive Science ; Conference date: 31-08-2011",

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AU - McGinnity, TM

AU - Coleman, SA

AU - Behera, Laxmidhar

PY - 2011/8/31

Y1 - 2011/8/31

N2 - The effectiveness of a multi-robot system is directly related to the coordination and cooperation among the robots. Decentralised task allocation algorithms have been proposed by prior researchers as a compromise between the robustness and solution optimality, and such algorithms can easily be employed for large teams of robot. We present an auction based decentralised task allocation algorithm, for task allocation in parallel to the task execution, suitable for task allocation in dynamic environments and scalable to large robot groups. The performance of the proposed algorithm under different conditions is compared with other distributed consensus algorithms.

AB - The effectiveness of a multi-robot system is directly related to the coordination and cooperation among the robots. Decentralised task allocation algorithms have been proposed by prior researchers as a compromise between the robustness and solution optimality, and such algorithms can easily be employed for large teams of robot. We present an auction based decentralised task allocation algorithm, for task allocation in parallel to the task execution, suitable for task allocation in dynamic environments and scalable to large robot groups. The performance of the proposed algorithm under different conditions is compared with other distributed consensus algorithms.

M3 - Conference contribution

SP - 244

EP - 253

BT - Unknown Host Publication

PB - International Standard Recording Code

T2 - Irish Conference on Artificial Intelligence and Cognitive Science

Y2 - 31 August 2011

ER -

A Fast Distributed Auction and Consensus Process for Allocation of Prioritised Tasks in Multi-Robot Systems

Abstract

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