Abstract
Task allocation is an important aspect in dealing with coordination problems. However, there are challenges in developing appropriate strategies for multi-robot teams in such a way that robots perform their operations efficiently. Real-world scenarios usually require the use of heterogeneous robots and execution of tasks with different structures and constraints. In this paper we propose a dynamic, decentralised task allocation mechanism considering different types of tasks for heterogeneous robot teams playing different roles and carrying out tasks according to their own capabilities. We have run several simulations in order to evaluate the proposed mechanism. The results indicate that the proposed mechanism scales well and provides near-optimal allocations.
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Notes
- 1.
Disaster Robotics “Pro-Alertas” (funded by CAPES – Pro-Alertas) https://disaster-robotics-proalertas.github.io.
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Acknowledgements
We acknowledge the support given by CNPQ and CAPES/Pro-Alertas (88887.115590/2015-01). Tulio Basegio thanks the support given by Federal Institute of Rio Grande do Sul (IFRS).
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Basegio, T.L., Bordini, R.H. (2018). An Algorithm for Allocating Structured Tasks in Multi-Robot Scenarios. In: Jezic, G., Kusek, M., Chen-Burger, YH., Howlett, R., Jain, L. (eds) Agent and Multi-Agent Systems: Technology and Applications. KES-AMSTA 2017. Smart Innovation, Systems and Technologies, vol 74. Springer, Cham. https://doi.org/10.1007/978-3-319-59394-4_10
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