Abstract
In multi robot task allocation, a set of tasks has to be allocated to a group of robots while optimizing some measure (for example, fuel or time). In order to find the optimal allocation, an exponential number of possibilities must be explored. In this work, we extend the Consensus Based Bundle Algorithm, to improve its support for tasks with time constraints. The modified algorithm is compared with the original one in order to show how strategic modifications to the algorithm increase the number of tasks successfully completed.
Keywords
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsPreview
Unable to display preview. Download preview PDF.
References
Choi, H.L., Brunet, L., How, J.P.: Consensus-based decentralized auctions for robust task allocation. IEEE Trans. on Robotics 25, 912–926 (2009), http://dl.acm.org/citation.cfm?id=1653147.1653161 , doi:10.1109/TRO.2009.2022423
Dias, M.: Traderbots: A new paradigm for robust and efficient multirobot coordination in dynamic environments. Ph.D. thesis, Carnegie Mellon, Pittsburgh, Pennsylvania (2004)
Ekici, A., Keskinocak, P., Koenig, S.: Multi-robot routing with linear decreasing rewards over time. In: Proc. Int’l Conf. on Robotics and Automation, pp. 3944–3949 (2009), http://dl.acm.org/citation.cfm?id=1703775.1704082
Kalra, N., Martinoli, A.: Comparative study of market-based and threshold-based task allocation. In: Gini, M., Voyles, R. (eds.) Distributed Autonomous Robotic Systems 7, pp. 91–101. Springer, Japan (2006)
Koenig, S., Tovey, C., Lagoudakis, M., Markakis, V., Kempe, D., Keskinocak, P., Kleywegt, A., Meyerson, A., Jain, S.: The power of sequential single-item auctions for agent coordination. In: American Association of Artificial Intelligence, pp. 1625–1629 (2006), http://dl.acm.org/citation.cfm?id=1597348.1597457
Melvin, J., Keskinocak, P., Koenig, S., Tovey, C.A., Ozkaya, B.Y.: Multi-robot routing with rewards and disjoint time windows. In: Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 2332–2337 (2007)
Ponda, S.J., Redding, J., Choi, H.L., How, J.P., Vavrina, M.A., Vian, J.: Decentralized planning for complex missions with dynamic communication constraints. In: American Control Conference (2010)
Ramchurn, S.D., Polukarov, M., Farinelli, A., Truong, C., Jennings, N.R.: Coalition formation with spatial and temporal constraints. In: Int’l Conf. on Autonomous Agents and Multi-Agent Systems, pp. 1181–1188 (2010)
Sandholm, T.: Algorithm for optimal winner determination in combinatorial auctions. Artif. Intell. 135, 1–54 (2002), doi:10.1016/S0004-3702(01)00159-X
Whitten, A.K., Choi, H.L., Johnson, L.B., How, J.P.: Decentralized Task Allocation with Coupled Constraints in Complex Missions, pp. 1642–1649. IEEE (2011)
Xu, Y., Scerri, P., Sycara, K., Lewis, M.: Comparing market and token-based coordination. In: Int’l Conf. on Autonomous Agents and Multi-Agent Systems, pp. 1113–1115. ACM, New York (2006)
Zavlanos, M.M., Spesivtsev, L., Pappas, G.J.: A distributed auction algorithm for the assignment problem. In: Proc. 47th IEEE Conference on Decision and Control, pp. 1212–1217 (2008)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Godoy, J., Gini, M. (2013). Task Allocation for Spatially and Temporally Distributed Tasks. In: Lee, S., Cho, H., Yoon, KJ., Lee, J. (eds) Intelligent Autonomous Systems 12. Advances in Intelligent Systems and Computing, vol 194. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33932-5_56
Download citation
DOI: https://doi.org/10.1007/978-3-642-33932-5_56
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-33931-8
Online ISBN: 978-3-642-33932-5
eBook Packages: EngineeringEngineering (R0)