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

Das, Gautham, McGinnity, TM and Coleman, SA (2014) Simultaneous Allocations of Multiple Tightly-Coupled Multi-Robot Tasks to Coalitions of Heterogeneous Robots. In: IEEE Internation Conference on Robotics and Biomimetics, Bali, Indonesia. IEEE. 7 pp. [Conference contribution]

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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.

Item Type:Conference contribution (Lecture)
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:30972
Deposited By: Dr Sonya Coleman
Deposited On:12 Feb 2015 13:45
Last Modified:12 Feb 2015 13:45

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