Emergent Task Allocation for Mobile Robots

13 years 6 months ago

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— Multi-robot systems require efﬁcient and accurate planning in order to perform mission-critical tasks. However, algorithms that ﬁnd the optimal solution are usually computationally expensive and may require a large number of messages between the robots as the robots need to be aware of the global spatiotemporal information. In this paper, we introduce an emergent task allocation approach for mobile robots. Each robot uses only the information obtained from its immediate neighbors in its decision. Our technique is general enough to be applicable to any task allocation scheme as long as a utilization criteria is given. We demonstrate that our approach performs similar to the integer linear programming technique which ﬁnds the global optimal solution at the fraction of its cost. The tasks we are interested in are detecting and controlling multiple regions of interest in an unknown environment in the presence of obstacles and intrinsic constraints. The objective function contains...

Nuzhet Atay, O. Burçhan Bayazit

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