A distributed tasks allocation scheme in multi-UAV context

This paper deals with the task allocation problem in multi-robot systems. We propose a completely distributed architecture, where robots dynamically allocate their tasks while they are building their plans. We first focus on the problem of simple "goto" tasks allocation: our approach invol...

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Bibliographic Details
Published inIEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 Vol. 4; pp. 3622 - 3627 Vol.4
Main Authors Lemaire, T., Alami, R., Lacroix, S.
Format Conference Proceeding
LanguageEnglish
Published Piscataway NJ IEEE 2004
Subjects
Applied sciences
Buildings
Centralized control
Communication system control
Computer science; control theory; systems
Control theory. Systems
Exact sciences and technology
Fires
Monitoring
Multirobot systems
Navigation
Protocols
Resource management
Robot kinematics
Robotics
Equity
Unmanned aerial vehicle UAV
Triggering
Temporal constraint
Robotics
Hierarchized structure
Workload
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Summary:This paper deals with the task allocation problem in multi-robot systems. We propose a completely distributed architecture, where robots dynamically allocate their tasks while they are building their plans. We first focus on the problem of simple "goto" tasks allocation: our approach involves an incremental task allocation algorithm based on the Contract-Net protocol. We introduce a parameter called equity coefficient in order to equilibrate the workload between the different robots and to control the triggering of the auction process. Then, we address the problem raised by temporal constraints between tasks by dynamically specifying temporary hierarchies among the tasks. Tests run in simulation quantify the benefits of our improvements.
ISBN:9780780382329
0780382323
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2004.1308816