Most multi-robot task allocation algorithms areconcerned with the allocation of individual tasks to singlerobots. However certain types of tasks require a team ofrobots for their execution, and for the allocation of such tasksnon-conflicting robot teams have to be formed. Most of theexisting allocation algorithms for such tasks mainly address therobot-team formation and the tasks are allocated sequentially.However, allocating multiple tasks simultaneously will result ina more balanced distribution of robots into teams. A marketbased algorithm for simultaneous allocation of multiple tightlycouple multi-robot tasks to coalitions of heterogeneous robotsare proposed in this paper. The simultaneous allocations aredeadlock-free and significant improvement in overall executiontime is achieved as demonstrated by empirical evaluations.
|Title of host publication||Unknown Host Publication|
|Number of pages||7|
|Publication status||Published - 5 Dec 2014|
|Event||IEEE Internation Conference on Robotics and Biomimetics - Bali, Indonesia|
Duration: 5 Dec 2014 → …
|Conference||IEEE Internation Conference on Robotics and Biomimetics|
|Period||5/12/14 → …|
Das, G., McGinnity, TM., & Coleman, SA. (2014). Simultaneous Allocations of Multiple Tightly-Coupled Multi-Robot Tasks to Coalitions of Heterogeneous Robots. In Unknown Host Publication (pp. 1198-1204). IEEE.