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 proceedingConference contribution

10 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.
LanguageEnglish
Title of host publicationUnknown Host Publication
Pages4716-4721
Number of pages6
DOIs
Publication statusPublished - 25 Sep 2011
Event2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), - San Francisco, CA
Duration: 25 Sep 2011 → …

Conference

Conference2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),
Period25/09/11 → …

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Robots
Parallel algorithms

Cite this

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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.",
author = "G.P Das and TM McGinnity and SA Coleman and Laxmidhar Behera",
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month = "9",
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doi = "10.1109/IROS.2011.6094948",
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Das, GP, McGinnity, TM, Coleman, SA & Behera, L 2011, A Fast Distributed Auction and Consensus Process using Parallel Task Allocation and Execution. in Unknown Host Publication. pp. 4716-4721, 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 25/09/11. https://doi.org/10.1109/IROS.2011.6094948

A Fast Distributed Auction and Consensus Process using Parallel Task Allocation and Execution. / Das, G.P; McGinnity, TM; Coleman, SA; Behera, Laxmidhar.

Unknown Host Publication. 2011. p. 4716-4721.

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

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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.

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