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A Fast Distributed Auction and Consensus Process for Allocation of Prioritised Tasks in Multi-Robot Systems

Das, Gautham, McGinnity, TM, Coleman, SA and Behera, Laxmidhar (2011) A Fast Distributed Auction and Consensus Process for Allocation of Prioritised Tasks in Multi-Robot Systems. In: Irish Conference on Artificial Intelligence and Cognitive Science, Londonderry. ISRC Technical Report Series. 10 pp. [Conference contribution]

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Abstract

The effectiveness of a multi-robot system is directly related to the coordination and cooperation among the robots. Decentralised task allocation algorithms have been proposed by prior researchers as a compromise between the robustness and solution optimality, and such algorithms can easily be employed for large teams of robot. We present an auction based decentralised task allocation algorithm, for task allocation in parallel to the task execution, suitable for task allocation in dynamic environments and scalable to large robot groups. The performance of the proposed algorithm under different conditions is compared with other distributed consensus algorithms.

Item Type:Conference contribution (Paper)
Faculties and Schools:Faculty of Computing & Engineering
Faculty of Computing & Engineering > School of Computing and Intelligent Systems
Research Institutes and Groups:Computer Science Research Institute > Intelligent Systems Research Centre
Computer Science Research Institute
ID Code:19902
Deposited By: Dr Sonya Coleman
Deposited On:26 Sep 2011 09:01
Last Modified:26 Sep 2011 09:01

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