Moving task allocation and reallocation method based on body expansion behaviour for distributed multi-robot coordination

Guanghui Li, Yusuke Tamura, Atsushi Yamashita, Hajime Asama

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)


The inconvenience and cost of utilising existing task assignment approaches to resolve dynamical mobile task allocation. For such new domain, we first propose a method, called dynamical-sequential task allocation and reallocation, by implementing multi-round negotiation and body expansion behaviour. Every former half time step, robots negotiate sequentially and select tasks to perform, and declare the information to other robots. When all robots have finished first time selection, then the remaining unselected robots choose the remaining unassigned tasks again sequentially at the latter half time step. We set two distance thresholds for robot decision-making to apply body expansion behaviour. The advantages of our methodology are demonstrated by comparison with existing algorithms, simulation results demonstrate that the efficiency for whole system to accomplish given tasks is improved by utilising our approach. Moreover, it is more conducive to reduce the numerous computational time and communication compared with existing investigated task assignment methods.

Original languageEnglish
Pages (from-to)240-261
Number of pages22
JournalInternational Journal of Mechatronics and Automation
Issue number4
Publication statusPublished - 2012
Externally publishedYes


  • body expansion behaviour
  • distributed multi-robot coordination
  • mobile task allocation
  • task reassignment

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computational Mechanics
  • Industrial and Manufacturing Engineering
  • Computational Mathematics
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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