Skip to main content
SpringerLink
Log in

Distributed task allocation method based on self-awareness of autonomous robots

  • Published:
The Journal of Supercomputing Aims and scope Submit manuscript

Abstract

Multi-robot task allocation problem is an important research field in multi-robot systems. The multi-robot task allocation problem combined with affective computing is an interesting frontier problem. This paper proposes a distributed affective robot pursuit task allocation algorithm based on self-awareness, which combines cognitive intelligence with emotional intelligence to establish self-awareness for affective robots. This paper defines the cognitive mechanism, environmental detection mechanism and self-decision mechanism of affective robots, so that the self-aware affective robots can make decisions autonomously by grasping the information of itself and the environment. The experimental results show better efficiency of this task allocation algorithm at each task scale, and the allocation efficiency is gradually improved as the number of robot increases.

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

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6

Similar content being viewed by others

References

  1. Moore K, Lucarelli D (2006) Decentralized adaptive scheduling using consensus variables. Int J Robust Nonlinear Control 17(10):921–940

    MathSciNet  MATH  Google Scholar 

  2. Ma Z, Cui Y (2014) Optimal hierarchical allocation in deregulated electricity market under PSP auction mechanism. In: Proceedings of the 26th Chinese Control and Decision Conference, IEEE, pp 2256–2261

  3. Shah K, Reddy P, Vairamuthu S (2015) Improvement in Hungarian algorithm for assignment problem. Adv Intell Syst Comput 324:1–8

    Google Scholar 

  4. Delgado-Mata C, Ibanez-Martinez J (2006) An emotion affected action selection mechanism for multiple virtual agents. In: Proceedings of the 16th International Conference on Artificial Reality and Telexistence-Workshops, IEEE, pp 57–63

  5. Ding Y, Zhu M, He Y (2006) An autonomous task allocation method of the multi-robot system. In: International Conference on Control, Automation, Robotics and Vision, IEEE, pp 1–6

  6. Banik S, Watanabe K, Izum K (2007) Task allocation with a cooperative plan for an emotionally intelligent system of multi-robots. In: SICE, 2007 Annual Conference, IEEE, pp 1004–1010

  7. Fang B, Chen L, Wang H, Dai S, Zhong Q (2014) Research on multirobot pursuit task allocation algorithm based on emotional cooperation factor. Sci World J 2014:1–6

    Google Scholar 

  8. Wang H, Zhang Q, Fang B (2013) Maximum similarity matching emotional model based on state space and probabilistic space mapping. Pattern Recognit Artif Intell 26(6):552–560

    Google Scholar 

  9. Fang B, Zhang Q, Hao W, Yuan X (2018) Personality driven task allocation for emotional robot team. Int J Mach Learn Cyber 9:1955–1962. https://doi.org/10.1007/s13042-017-0679-3

    Article  Google Scholar 

  10. Liu C, Kroll A (2012) A centralized multi-robot task allocation for industrial plant inspection by using A* and genetic algorithms. In: Proceedings of the 11th International Conference on Artificial Intelligence and Soft Computing, pp 466–474

    Chapter  Google Scholar 

  11. Browne W, Kawamura K, Krichmar JJ (2009) Cognitive robotics: new insights into robot and human intelligence by reverse engineering brain functions. IEEE Robot Autom Mag 16(3):17–18

    Article  Google Scholar 

  12. Fang B, Guo X, Wang Z, Li Y, Elhoseny M, Yuan X (2019) Collaborative task assignment of interconnected, affective robots towards autonomous healthcare assistant. Future Gener Comput Syst 92(2019):241–251

    Article  Google Scholar 

  13. Minsky M (1988) The society of mind. Simonand Schuster, New York

    Google Scholar 

  14. Gao Z, Yan G, Ding G (2005) Task distribution of multi-agent systems based on network. Comput Eng 31:19–21

    Google Scholar 

  15. Ding Y, He Y, Jiang J (2003) Multi-robot cooperation method based on the ant algorithm. Robot 25(5):14–18

    Google Scholar 

Download references

Acknowledgements

This work is supported by the Fundamental Research Funds for the Central Universities of China (ACAIM190102), the Natural Science Foundation of Anhui Province, China (1708085MF146), and Project of Innovation Team of Ministry of Education of China (IRT17R32), the Open Foundation from the CAAC Academy of Flight Technology and Safety under Grant (F2018KF06), and the National Natural Science Foundation of China (U1633127).

Author information

Authors and Affiliations

  1. CAAC Academy of Flight Technology and Safety Civil Aviation Flight University of China, Guanghan, Sichuan, People’s Republic of China

    Zaijun Wang

  2. Anhui Province Key Laboratory of Affective Computing and Advanced Intelligent Machine, Hefei, Anhui, People’s Republic of China

    Jinlin Zhu, XiaoPing Guo, YunTing Ma & Zifan Li

Authors
  1. Zaijun Wang
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Jinlin Zhu
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. XiaoPing Guo
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. YunTing Ma
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Zifan Li
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Zaijun Wang.

Additional information

Publisher's Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Wang, Z., Zhu, J., Guo, X. et al. Distributed task allocation method based on self-awareness of autonomous robots. J Supercomput 76, 831–843 (2020). https://doi.org/10.1007/s11227-019-02987-3

Download citation

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11227-019-02987-3

Keywords

Search

Navigation