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

Gautham Das; TM McGinnity; SA Coleman

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

Gautham Das
, TM McGinnity
, SA Coleman

VCRS

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

11 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 language	English
Title of host publication	Unknown Host Publication
Publisher	IEEE
Pages	1198-1204
Number of pages	7
Publication status	Published (in print/issue) - 5 Dec 2014
Event	IEEE Internation Conference on Robotics and Biomimetics - Bali, Indonesia Duration: 5 Dec 2014 → …

Conference

Conference	IEEE Internation Conference on Robotics and Biomimetics
Period	5/12/14 → …

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 9 Industry, Innovation, and Infrastructure

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 = dec,

day = "5",

language = "English",

pages = "1198--1204",

booktitle = "Unknown Host Publication",

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note = "IEEE Internation Conference on Robotics and Biomimetics ; Conference date: 05-12-2014",

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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

PB - IEEE

T2 - IEEE Internation Conference on Robotics and Biomimetics

Y2 - 5 December 2014

ER -

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

Abstract

Conference

UN SDGs

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