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 proceedingConference contribution

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.
LanguageEnglish
Title of host publicationUnknown Host Publication
Pages244-253
Number of pages10
Publication statusPublished - 31 Aug 2011
EventIrish Conference on Artificial Intelligence and Cognitive Science - Londonderry
Duration: 31 Aug 2011 → …

Conference

ConferenceIrish Conference on Artificial Intelligence and Cognitive Science
Period31/08/11 → …

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Robots
Parallel algorithms

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.",
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year = "2011",
month = "8",
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Das, G, McGinnity, TM, Coleman, SA & Behera, L 2011, A Fast Distributed Auction and Consensus Process for Allocation of Prioritised Tasks in Multi-Robot Systems. in Unknown Host Publication. pp. 244-253, Irish Conference on Artificial Intelligence and Cognitive Science, 31/08/11.

A Fast Distributed Auction and Consensus Process for Allocation of Prioritised Tasks in Multi-Robot Systems. / Das, Gautham; McGinnity, TM; Coleman, SA; Behera, Laxmidhar.

Unknown Host Publication. 2011. p. 244-253.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

TY - GEN

T1 - A Fast Distributed Auction and Consensus Process for Allocation of Prioritised Tasks in Multi-Robot Systems

AU - Das, Gautham

AU - McGinnity, TM

AU - Coleman, SA

AU - Behera, Laxmidhar

PY - 2011/8/31

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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

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BT - Unknown Host Publication

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