A comparative study of dynamical sequential and global optimal task reallocation methodology for distributed multi-robot system

Guanghui Li, Yusuke Tamura, Hajime Asama

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

3 Citations (Scopus)

Abstract

We firstly consider a kind of dynamical mobile task assignment problem, which allows the condition of tasks and robots to be time dependent before assigned robots accomplish the relational tasks. For such new domain, we propose two methods, one is called dynamical sequential task allocation and reallocation, and another is global optimal task allocation and reallocation, for the distributed multi-robot coordination system. The former approach implements multi-round negotiation and body expansion behavior for mobile tasks selection. To utilize body expansion behavior, we set two distance thresholds for robot decision making. The latter method is extended from combinatorial optimization and market-based task allocation. Robots bid tasks and transmit the costs to other robots. Then robots select tasks from the combinatorial cost table based on the objective function. This paper is a comparative study of the mentioned methods above. The simulation results show that minimal executed costs and maximal accomplished efficiency are obtained by global optimal task allocation and reallocation method, while this method consumes numerous communication costs and computation times. Reversely, dynamical sequential task allocation and reallocation is an approximative global optimal assignment approach. Otherwise it expends acceptable communication costs and computation times.

Original languageEnglish
Title of host publicationURAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence
Pages307-312
Number of pages6
DOIs
Publication statusPublished - 2011 Dec 1
Externally publishedYes
Event2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2011 - Incheon, Korea, Republic of
Duration: 2011 Nov 232011 Nov 26

Publication series

NameURAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence

Conference

Conference2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2011
CountryKorea, Republic of
CityIncheon
Period11/11/2311/11/26

Keywords

  • Body expansion behavior
  • Distributed multi-robot system
  • Global optimization
  • Mobile task allocation and reallocation
  • Multi-round negotiation

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Networks and Communications

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    Li, G., Tamura, Y., & Asama, H. (2011). A comparative study of dynamical sequential and global optimal task reallocation methodology for distributed multi-robot system. In URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (pp. 307-312). [6145982] (URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence). https://doi.org/10.1109/URAI.2011.6145982