Simultaneous Allocations of Multiple Tightly-Coupled Multi-Robot Tasks to Coalitions of Heterogeneous Robots

Gautham Das, TM McGinnity, SA Coleman

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

6 Citations (Scopus)

Abstract

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.
LanguageEnglish
Title of host publicationUnknown Host Publication
Pages1198-1204
Number of pages7
Publication statusPublished - 5 Dec 2014
EventIEEE Internation Conference on Robotics and Biomimetics - Bali, Indonesia
Duration: 5 Dec 2014 → …

Conference

ConferenceIEEE Internation Conference on Robotics and Biomimetics
Period5/12/14 → …

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Cite this

@inproceedings{ae919686a6e44a6db557dd3fcffef5f4,
title = "Simultaneous Allocations of Multiple Tightly-Coupled Multi-Robot Tasks to Coalitions of Heterogeneous Robots",
abstract = "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.",
author = "Gautham Das and TM McGinnity and SA Coleman",
year = "2014",
month = "12",
day = "5",
language = "English",
pages = "1198--1204",
booktitle = "Unknown Host Publication",

}

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 Internation Conference on Robotics and Biomimetics, 5/12/14.

Simultaneous Allocations of Multiple Tightly-Coupled Multi-Robot Tasks to Coalitions of Heterogeneous Robots. / Das, Gautham; McGinnity, TM; Coleman, SA.

Unknown Host Publication. 2014. p. 1198-1204.

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

TY - GEN

T1 - Simultaneous Allocations of Multiple Tightly-Coupled Multi-Robot Tasks to Coalitions of Heterogeneous Robots

AU - Das, Gautham

AU - McGinnity, TM

AU - Coleman, SA

PY - 2014/12/5

Y1 - 2014/12/5

N2 - 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.

AB - 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.

M3 - Conference contribution

SP - 1198

EP - 1204

BT - Unknown Host Publication

ER -