A Fast Distributed Auction and Consensus Process using Parallel Task Allocation and Execution

G.P Das; TM McGinnity; SA Coleman; Laxmidhar Behera

doi:10.1109/IROS.2011.6094948

A Fast Distributed Auction and Consensus Process using Parallel Task Allocation and Execution

G.P Das, TM McGinnity, SA Coleman, Laxmidhar Behera

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

21 Citations (Scopus)

Abstract

In a multi-robot system, the coordination and cooperation among the robots determine the effectiveness of task execution. Different centralised and distributed task allocation algorithms have been proposed by researchers. Recently consensus based task allocation has been extensively researched because of its robustness in handling large teams of robots. We propose a new auction and consensus based algorithm for fast task allocation in parallel with task execution. The performance of the proposed algorithm under different conditions is analyzed and compared with other distributed consensus algorithms.

Original language	English
Title of host publication	Unknown Host Publication
Publisher	IEEE Robotics and Automation Society
Pages	4716-4721
Number of pages	6
ISBN (Print)	978-1-61284-454-1
DOIs	https://doi.org/10.1109/IROS.2011.6094948
Publication status	Published (in print/issue) - 25 Sept 2011
Event	2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), - San Francisco, CA Duration: 25 Sept 2011 → …

Conference

Conference	2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
Period	25/09/11 → …

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10.1109/IROS.2011.6094948

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title = "A Fast Distributed Auction and Consensus Process using Parallel Task Allocation and Execution",

abstract = "In a multi-robot system, the coordination and cooperation among the robots determine the effectiveness of task execution. Different centralised and distributed task allocation algorithms have been proposed by researchers. Recently consensus based task allocation has been extensively researched because of its robustness in handling large teams of robots. We propose a new auction and consensus based algorithm for fast task allocation in parallel with task execution. The performance of the proposed algorithm under different conditions is analyzed and compared with other distributed consensus algorithms.",

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AU - McGinnity, TM

AU - Coleman, SA

AU - Behera, Laxmidhar

PY - 2011/9/25

Y1 - 2011/9/25

N2 - In a multi-robot system, the coordination and cooperation among the robots determine the effectiveness of task execution. Different centralised and distributed task allocation algorithms have been proposed by researchers. Recently consensus based task allocation has been extensively researched because of its robustness in handling large teams of robots. We propose a new auction and consensus based algorithm for fast task allocation in parallel with task execution. The performance of the proposed algorithm under different conditions is analyzed and compared with other distributed consensus algorithms.

AB - In a multi-robot system, the coordination and cooperation among the robots determine the effectiveness of task execution. Different centralised and distributed task allocation algorithms have been proposed by researchers. Recently consensus based task allocation has been extensively researched because of its robustness in handling large teams of robots. We propose a new auction and consensus based algorithm for fast task allocation in parallel with task execution. The performance of the proposed algorithm under different conditions is analyzed and compared with other distributed consensus algorithms.

U2 - 10.1109/IROS.2011.6094948

DO - 10.1109/IROS.2011.6094948

M3 - Conference contribution

SN - 978-1-61284-454-1

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EP - 4721

BT - Unknown Host Publication

PB - IEEE Robotics and Automation Society

T2 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),

Y2 - 25 September 2011

ER -

A Fast Distributed Auction and Consensus Process using Parallel Task Allocation and Execution

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