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

7 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.
Original languageEnglish
Title of host publicationUnknown Host Publication
PublisherIEEE
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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