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International Conference on Computational Collective Intelligence

ICCCI 2018: Computational Collective Intelligence pp 89–99Cite as

A Flexible Evolutionary Algorithm for Task Allocation in Multi-robot Team

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Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 11056))

Abstract

The paper presents an Evolutionary Algorithm (EA) based framework capable of handling a variety of complex Multi-Robot Task Allocation (MRTA) problems. Equipped with a flexible chromosome structure, customized variation operators, and a penalty function, the EA demonstrates the capability to switch between single-robot and multi-robot cases of MRTA and entertains team heterogeneity. The framework is validated and compared against a Genetic Algorithm based representation and a heuristic-based solution. The experimental results show that the presented EA provides better overall results to the task allocation problem with faster convergence and lesser chances of sub-optimal results.

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Notes

  1. 1.

    www.ros.org.

  2. 2.

    www.gazebosim.org.

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Author information

Authors and Affiliations

  1. Artificial Intelligence Lab, Faculty of Computer Science, Institute of Business Administration, Karachi, Pakistan

    Muhammad Usman Arif & Sajjad Haider

Authors
  1. Muhammad Usman Arif
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  2. Sajjad Haider
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Corresponding author

Correspondence to Muhammad Usman Arif .

Editor information

Editors and Affiliations

  1. Faculty of Information Technology, Ton Duc Thang University, Ho Chi Minh City, Vietnam

    Ngoc Thanh Nguyen

  2. Department of Computer Science and Creative Technologies, University of the West of England, Bristol, United Kingdom

    Elias Pimenidis

  3. Department of Computer Science and Creative Technologies, University of the West of England, Bristol, United Kingdom

    Zaheer Khan

  4. Faculty of Computer Science and Management, Wrocław University of Science and Technology, Wrocław, Poland

    Bogdan Trawiński

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Cite this paper

Arif, M.U., Haider, S. (2018). A Flexible Evolutionary Algorithm for Task Allocation in Multi-robot Team. In: Nguyen, N., Pimenidis, E., Khan, Z., Trawiński, B. (eds) Computational Collective Intelligence. ICCCI 2018. Lecture Notes in Computer Science(), vol 11056. Springer, Cham. https://doi.org/10.1007/978-3-319-98446-9_9

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  • DOI: https://doi.org/10.1007/978-3-319-98446-9_9

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-98445-2

  • Online ISBN: 978-3-319-98446-9

  • eBook Packages: Computer ScienceComputer Science (R0)

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