Abstract
In this paper, we designed and developed three new model related to task assignment in robotics. The aim is to allocate all the robots to all the available tasks such that all tasks are finished with minimum total cost and minimum time taken. The first model is completely based on priority but waits for robots and allocates task only to the most suitable robots (highest bid robots). The second model completes the task in such a way that it allocates best robots that are currently available to the task without waiting for the most suitable robots to be free. The third and final model uses heuristics based approach with auction algorithm to identify the non-performing slow robots and eliminate them from the list of available robots. This helps in increasing the efficiency of the whole system and helps to reduce the total cost of performance for the system. The work aims at providing a best suitable algorithm for completing all the tasks with minimum overhead and maintaining a specific order for the completion of the tasks. Further it also rejects the slow working robots so that the total time taken for completion can be reduced.
Keywords
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Luo, L., Chakraborty, N., Katia, S.: Multi-Robot Assignment Algorithm for Tasks with Set Precedence Constraints. In: IEEE International Conference on Robotics, pp. 2526–2533 (2011)
Oyama, N., Liu, Z., Gueta, L.B., Ota, J.: Rearrangement Task of Multiple Robots Using Task Assignment Applicable to Different Environments. In: IEEE International Conference on Robotics, pp. 300–305 (2010)
Batalin, M.A., Sukhatme, G.S.: Using sensor network for distributed multi-robot task allocation. In: IEEE International Conference on Robotics (2004)
Wawerla, J., Vaughan, R.T.: A fast and frugal method for team-task allocation in a multi-robot transportation system. In: IEEE International Conference on Robotics (2010)
Kim, Y.H., Kim, B.K.: A multi robot task planning system minimizing the total execution time for hospital service. In: International Conference on Control, Automation and Systems (2010)
Fukuda, T., Kubota, N.: Intelligent robotics systems from a single robot to multiple robotics system. In: International Workshop on Robotics (2002)
Chen, J., Sun, D.: An experimental study on leader follower coalition method for solving multiple robotic task allocation. In: International Workshop on Robotics (2010)
Duvallet, F., Stentz, A.: Imitation learning for task allocation. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (2010)
Zheng, T., Li, J.: Multi-robot task allocation and scheduling based on fish swarm algorithm. In: World Congress on Intelligent Control and Automation (2010)
Shi, Z., Wei, J., Wei, X., Tan, K., Wang, Z.: The task allocation model based on reputation for the heterogeneous multi-robot collaboration system. In: World Congress on Intelligent Control and Automation (2010)
Kaleci, B., Parlaktuna, O., Ozkan, M.: Market-Based Task Allocation by using Assignment Problem. In: IEEE International Conference on Systems, Man, and Cybernetics (2010)
Matarić, M.J., Sukhatme, G.S., Østergaard, E.H.: Multi-Robot Task Allocation in Uncertain Environments. In: International Workshop on Robotics, pp. 255–263 (2002)
Gerkey, B.P., Matarić, M.J.: A Formal Analysis and Taxonomy of Task Allocation in Multi-Robot Systems. International Journal of Robotics Research 23 (2002)
Gerkey, B.P., Matarić, M.J.: A Framework For Studying Multi-Robot Task Allocation. In: Proceedings of the NRL Workshop on Multi-Robot Systems (2003)
Matarić, M.J.: Reinforcement Learning in the Multi-Robot Domain. Autonomous Robots, 73–83 (1993)
Lo, V.M.: Heuristic algorithms for task assignment in distributed systems. IEEE Transactions on Computers 37(11), 1384–1397 (1988)
Efe, K.: Heuristic models of task assignment scheduling in distributed systems. Computer 15(6), 50–56 (1982)
Kafil, M., Ahmad, I.: Optimal task assignment in heterogeneous distributed computing systems. IEEE Concurrency 6(3), 42–50 (1998)
Burgard, W., Moors, M., Stachniss, C., Schneider, F.E.: Coordinated multi-robot exploration. IEEE Transactions on Robotics 21(3), 376–386 (2005)
Shen, C., Tsai, W.: A Graph Matching Approach to Optimal Task Assignment in Distributed Computing Systems Using a Minimax Criterion. IEEE Transactions on Computers C-34(3), 197–203 (1985)
Kopidakis, Y., Lamari, M., Zissimopoulos, V.: On the Task Assignment Problem: Two New Efficient Heuristic Algorithms. Journal of Parallel and Distributed Computing 42(1), 21–29 (1997)
El-Rewini, H., Lewis, T.G.: Scheduling parallel program tasks onto arbitrary target machines. Journal of Parallel and Distributed Computing 9(2), 138–153 (1990)
Tovey, C., Lagoudakis, M., Jain, S., Koenig, S.: The Generation of Bidding Rules for Auction-Based Robot Coordination. Springer, Netherlands (2005)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2012 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Goyal, R., Sharma, T., Tiwari, R. (2012). Priority Based Multi Robot Task Assignment. In: Tan, Y., Shi, Y., Ji, Z. (eds) Advances in Swarm Intelligence. ICSI 2012. Lecture Notes in Computer Science, vol 7331. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-30976-2_67
Download citation
DOI: https://doi.org/10.1007/978-3-642-30976-2_67
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-30975-5
Online ISBN: 978-3-642-30976-2
eBook Packages: Computer ScienceComputer Science (R0)