ROBUST MULTI-ROBOT COOPERATION THROUGH DYNAMIC TASK ALLOCATION AND PRECAUTION ROUTINES

Sanem Sariel, Tucker Balch, Nadia Erdogan

Abstract

In this paper, we present the design and implementation of a multi-robot cooperation framework to collectively execute inter-dependent tasks of an overall complex mission requiring diverse capabilities. Given a heterogeneous team of robots and task dependencies, the proposed framework provides a distributed mechanism for assigning tasks to robots in an order that efficiently completes the mission. The approach is robust to unreliable communication and robot failures. It is a distributed auction-based approach, and therefore scalable. In order to obtain optimal allocations, effective bid evaluations are needed. Additionally to maintain optimality in noisy environments, dynamic re-allocations of tasks are needed as implemented in dynamic task selection and coalition maintenance scheme that we propose. Real-time contingencies are handled by recovery routines, called Plan B precautions in our framework. Here, in this paper, we present performance results of our framework for robustness in simulations that include variable message loss rates and robot failures. Experiments illustrate robustness of our approach against several contingencies.

References

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Paper Citation


in Harvard Style

Sariel S., Balch T. and Erdogan N. (2006). ROBUST MULTI-ROBOT COOPERATION THROUGH DYNAMIC TASK ALLOCATION AND PRECAUTION ROUTINES . In Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-972-8865-60-3, pages 196-201. DOI: 10.5220/0001212901960201


in Bibtex Style

@conference{icinco06,
author={Sanem Sariel and Tucker Balch and Nadia Erdogan},
title={ROBUST MULTI-ROBOT COOPERATION THROUGH DYNAMIC TASK ALLOCATION AND PRECAUTION ROUTINES},
booktitle={Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2006},
pages={196-201},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001212901960201},
isbn={978-972-8865-60-3},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - ROBUST MULTI-ROBOT COOPERATION THROUGH DYNAMIC TASK ALLOCATION AND PRECAUTION ROUTINES
SN - 978-972-8865-60-3
AU - Sariel S.
AU - Balch T.
AU - Erdogan N.
PY - 2006
SP - 196
EP - 201
DO - 10.5220/0001212901960201