Hybrid dynamic mobile task allocation and reallocation methodology for distributed multi-robot coordination

Guanghui Li, Yusuke Tamura, Min Wu, Atsushi Yamashita, Hajime Asama

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

2 Citations (Scopus)

Abstract

Dynamical mobile task allocation, by which tasks can move randomly before they are assigned robots to execute. For such a new task assignment domain, we propose a hybrid dynamic mobile task allocation and reallocation method that combines our previous proposed dynamical sequential method and global optimal method. Robots bid for tasks and transmit the costs to other robots. Then all robots select tasks from the combinatorial cost table to minimize the objective function. During the next time step, robots continue to select the assigned tasks for which costs are smaller than the set thresholds. Alternatively, robots for which costs exceed the corresponding threshold rebid unassigned tasks and transmit the calculated costs to others. The un-selected robots then re-select unassigned tasks from the combinatorial cost table according to global optimal task allocation method. In this study, the advantages of the proposed approach are demonstrated by comparison with existing task allocation methods. The simulation results demonstrate that a system implementing our method can obtain maximal accomplished efficiency of whole system and minimal executed costs for each individual robot. The negotiation time steps, communication costs and computational times are reduced using the proposed algorithm. Moreover, we believe that our method can extend the previous methods to be suitable for a large-scale distributed multi-robot coordination system.

Original languageEnglish
Title of host publicationAIM 2012 - 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Conference Digest
Pages190-195
Number of pages6
DOIs
Publication statusPublished - 2012 Oct 5
Externally publishedYes
Event2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2012 - Kaohsiung, Taiwan, Province of China
Duration: 2012 Jul 112012 Jul 14

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Other

Other2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2012
CountryTaiwan, Province of China
CityKaohsiung
Period12/7/1112/7/14

Keywords

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

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering

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