Skip to main content
SpringerLink
Log in
Book cover

Iberian Robotics conference

ROBOT 2017: ROBOT 2017: Third Iberian Robotics Conference pp 855–866Cite as

A Game of Drones: Game Theoretic Approaches for Multi-robot Task Allocation in Security Missions

  • Conference paper
  • First Online:

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 693))

Abstract

This work explores the potential of game theory to solve the task allocation problem in multi-robot missions. The problem considers a swarm with dozens of drones that only know their neighbors, as well as a mission that consists of visiting a series of locations and performing certain activities. Two algorithms have been developed and validated in simulation: one competitive and another cooperative. The first one searches the best Nash equilibrium for each conflict where multiple UAVs compete for multiple tasks. The second one establishes a voting system to translate the individual preferences into a task allocation with social welfare. The results of the simulations show both algorithms work under the limitation of communications and the partial information, but the competitive algorithm generates better allocations than the cooperative one.

This is a preview of subscription content, log in via an institution.

Chapter
USD   29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD   169.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD   219.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Learn about institutional subscriptions

References

  1. Garzón, M., Valente, J., Roldán, J.J., Cancar, L., Barrientos, A., Del Cerro, J.: A multirobot system for distributed area coverage and signal searching in large outdoor scenarios. J. Field Robot. (2015)

    Google Scholar 

  2. Garzón, M., Valente, J., Zapata, D., Barrientos, A.: An aerial-ground robotic system for navigation and obstacle mapping in large outdoor areas. Sensors 13(1), 1247–1267 (2013)

    Article  Google Scholar 

  3. Alvarado, M., Gonzalez, F., Fletcher, A., Doshi, A.: Towards the development of a low cost airborne sensing system to monitor dust particles after blasting at open-pit mine sites. Sensors 15(8), 19667–19687 (2015)

    Article  Google Scholar 

  4. Roldán, J.J., Garcia-Aunon, P., Garzón, M., de León, J., del Cerro, J., Barrientos, A.: Heterogeneous multi-robot system for mapping environmental variables of greenhouses. Sensors 16(7), 1018 (2016)

    Article  Google Scholar 

  5. Yan, Z., Jouandeau, N., Cherif, A.A.: A survey and analysis of multi-robot coordination. Int. J. Adv. Rob. Syst. 10(12), 399 (2013)

    Article  Google Scholar 

  6. Mosteo, A.R., Montano, L.: A survey of multi-robot task allocation. Instituto de Investigación en Ingeniería de Aragón, University of Zaragoza, Zaragoza, Spain, Technical report No. AMI-009-10-TEC (2010)

    Google Scholar 

  7. Jiang, Y.: A survey of task allocation and load balancing in distributed systems. IEEE Trans. Parallel Distrib. Syst. 27(2), 585–599 (2016)

    Article  Google Scholar 

  8. Jia, X., Meng, M.Q.H.: A survey and analysis of task allocation algorithms in multi-robot systems. In: 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 2280–2285. IEEE (2013)

    Google Scholar 

  9. Khamis, A., Hussein, A., Elmogy, A.: Multi-robot task allocation: a review of the state-of-the-art. In: Koubâa, A., Martínez-de Dios, J. (eds.) Cooperative Robots and Sensor Networks 2015, pp. 31–51. Springer, Cham (2015)

    Chapter  Google Scholar 

  10. Ramirez-Atencia, C., Bello-Orgaz, G., R-Moreno, M.D., Camacho, D.: Performance evaluation of multi-UAV cooperative mission planning models. In: Núñez, M., Nguyen, N., Camacho, D., Trawinski, B. (eds.) Computational Collective Intelligence, pp. 203–212. Springer International Publishing, Cham (2015)

    Chapter  Google Scholar 

  11. Allen, J.F.: Maintaining knowledge about temporal intervals. Commun. ACM 26(11), 832–843 (1983)

    Article  MATH  Google Scholar 

  12. Roldán, J.J., Lansac, B., del Cerro, J., Barrientos, A.: A proposal of multi-UAV mission coordination and control architecture. In: Robot 2015: Second Iberian Robotics Conference, pp. 597–608. Springer International Publishing (2016)

    Google Scholar 

  13. Ramirez-Atencia, C., Bello-Orgaz, G., R-Moreno, M.D., Camacho, D.: Solving complex multi-UAV mission planning problems using multi-objective genetic algorithms. Soft Comput. 1–18 (2016)

    Google Scholar 

  14. Yang, J., Zhang, H., Ling, Y., Pan, C., Sun, W.: Task allocation for wireless sensor network using modified binary particle swarm optimization. IEEE Sens. J. 14(3), 882–892 (2014)

    Article  Google Scholar 

  15. Hernández, E., Barrientos, A., Del Cerro, J.: Selective smooth fictitious play: an approach based on game theory for patrolling infrastructures with a multi-robot system. Expert Syst. Appl. 41(6), 2897–2913 (2014)

    Article  Google Scholar 

  16. Schneider, E., Sklar, E.I., Parsons, S., Ozgelen, A.T.: Auction-based task allocation for multi-robot teams in dynamic environments. In: Conference Towards Autonomous Robotic Systems, pp. 246–257. Springer International Publishing (2015)

    Google Scholar 

  17. Jiang, Y.: Concurrent collective strategy diffusion of multiagents: the spatial model and case study. IEEE Trans. Syst. Man Cybern Part C (Appl. Rev.) 39(4), 448–458 (2009)

    Article  Google Scholar 

  18. Padmanabhan, M., Suresh, G.R.: Coalition formation and task allocation of multiple autonomous robots. In: 2015 3rd International Conference on Signal Processing, Communication and Networking (ICSCN), pp. 1–5. IEEE (2015)

    Google Scholar 

  19. Brutschy, A., Pini, G., Pinciroli, C., Birattari, M., Dorigo, M.: Self-organized task allocation to sequentially interdependent tasks in swarm robotics. Auton. Agent. Multi-Agent Syst. 28(1), 101–125 (2014)

    Article  Google Scholar 

  20. Jackson, M.O.: A brief introduction to the basics of game theory. Stanford University (2011)

    Google Scholar 

  21. Freeman, L.C.: A set of measures of centrality based on betweenness. Sociometry 40, 35–41 (1977)

    Article  Google Scholar 

  22. Chamberlin, J.R., Courant, P.N.: Representative deliberations and representative decisions: proportional representation and the Borda rule. Am. Polit. Sci. Rev. 77(03), 718–733 (1983)

    Article  Google Scholar 

Download references

Acknowledgments

This work is framed on SAVIER (Situational Awareness Virtual EnviRonment) Project, which is both supported and funded by Airbus Defence & Space. The research leading to these results has received funding from the RoboCity2030-III-CM project (Robótica aplicada a la mejora de la calidad de vida de los ciudadanos. Fase III; S2013/MIT-2748), funded by Programas de Actividades I+D en la Comunidad de Madrid and cofunded by Structural Funds of the EU, and from the DPI2014-56985-R project (Protección robotizada de infraestructuras críticas) funded by the Ministerio de Economía y Competitividad of Gobierno de España.

Author information

Authors and Affiliations

  1. Centro de Automática y Robótica (UPM-CSIC), Universidad Politécnica de Madrid, José Gutiérrez Abascal, 2, 28006, Madrid, Spain

    Kala Garapati, Juan Jesús Roldán, Mario Garzón, Jaime del Cerro & Antonio Barrientos

Authors
  1. Kala Garapati
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Juan Jesús Roldán
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Mario Garzón
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Jaime del Cerro
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Antonio Barrientos
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Juan Jesús Roldán .

Editor information

Editors and Affiliations

  1. Escuela Técnica Superior de Ingeniería, Universidad de Sevilla, Sevilla, Spain

    Anibal Ollero

  2. Institut de Robòtica I Informàtica Industrial (CSIC-UPC), Universitat Politècnica de Catalunya, Barcelona, Spain

    Alberto Sanfeliu

  3. Departamento de Informática e Ingeniería de Sistemas, Escuela de Ingeniería y Arquitectura, Instituto de Investigación en Ingeniería de Aragón, Zaragoza, Spain

    Luis Montano

  4. Institute of Electronics and Telematics Engineering of Aveiro (IEETA), Universidade de Aveiro, Aveiro, Portugal

    Nuno Lau

  5. IDMEC, Instituto Superior Técnico de Lisboa, Universidade de Lisboa, Lisbon, Portugal

    Carlos Cardeira

Rights and permissions

Reprints and permissions

Copyright information

© 2018 Springer International Publishing AG

About this paper

Check for updates. Verify currency and authenticity via CrossMark

Cite this paper

Garapati, K., Roldán, J.J., Garzón, M., del Cerro, J., Barrientos, A. (2018). A Game of Drones: Game Theoretic Approaches for Multi-robot Task Allocation in Security Missions. In: Ollero, A., Sanfeliu, A., Montano, L., Lau, N., Cardeira, C. (eds) ROBOT 2017: Third Iberian Robotics Conference. ROBOT 2017. Advances in Intelligent Systems and Computing, vol 693. Springer, Cham. https://doi.org/10.1007/978-3-319-70833-1_69

Download citation

  • DOI: https://doi.org/10.1007/978-3-319-70833-1_69

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-70832-4

  • Online ISBN: 978-3-319-70833-1

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation