Robot Task Allocation Using Signal Propagation Model

The problem of Multi-Robot Task Allocation has received significant attention over last years. The solutions with decentralized decision making have proven better durability than those using centralized planning. In this paper a method which does not use any explicit communication is presented. It i...

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Bibliographic Details
Published inProcedia computer science Vol. 18; pp. 1505 - 1514
Main Authors Żabińska, Małgorzata, Sośnicki, Tomasz, Turek, Wojciech, Cetnarowicz, Krzysztof
Format Journal Article
LanguageEnglish
Published Elsevier B.V 2013
Subjects
Discrete simulation
Multi-agent systems
Multi-robot task allocation
Multi-robot task allocation
Multi-agent systems
Discrete simulation
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Summary:The problem of Multi-Robot Task Allocation has received significant attention over last years. The solutions with decentralized decision making have proven better durability than those using centralized planning. In this paper a method which does not use any explicit communication is presented. It is especially suitable for very high dynamics of tasks priorities, when other methods must often perform time-consuming replanning. The method uses a simple model of signal emission and propagation in the environment. Simulation experiments are provided to demonstrate usability and interesting features of the method.
ISSN:1877-0509
1877-0509
DOI:10.1016/j.procs.2013.05.318