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Complex Task Allocation in Mobile Surveillance Systems

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Abstract

In mobile surveillance systems, complex task allocation addresses how to optimally assign a set of surveillance tasks to a set of mobile sensing agents to maximize overall expected performance, taking into account the priorities of the tasks and the skill ratings of the mobile sensors. This paper presents a market-based approach to complex task allocation. Complex tasks are the tasks that can be decomposed into subtasks. Both centralized and hierarchical allocations are investigated as winner determination strategies for different levels of allocation and for static and dynamic search tree structures. The objective comparison results show that hierarchical dynamic tree task allocation outperforms all the other techniques especially in complex surveillance operations where large number of robots is used to scan large number of areas.

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Authors and Affiliations

  1. University of Waterloo, Waterloo, ON, Canada

    Alaa M. Khamis, Ahmed M. Elmogy & Fakhri O. Karray

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  1. Alaa M. Khamis
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  2. Ahmed M. Elmogy
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  3. Fakhri O. Karray
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Correspondence to Ahmed M. Elmogy.

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Khamis, A.M., Elmogy, A.M. & Karray, F.O. Complex Task Allocation in Mobile Surveillance Systems. J Intell Robot Syst 64, 33–55 (2011). https://doi.org/10.1007/s10846-010-9536-2

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  • DOI: https://doi.org/10.1007/s10846-010-9536-2

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