A Hybrid Dynamic Task Allocation Approach for a Heterogeneous Multi-Robot System

Yan Meng, Kashyap Shah

Abstract

In this paper, we propose a communication-efficient hybrid task scheduling algorithm for a heterogeneous multi-robot system under dynamic unknown environment, where each robot makes its own decision through communicating with others as well as checking a global task status queue. The proposed hybrid algorithm takes advantage of centralized approaches to improve the overall system efficiency and distributed approaches to reduce the communication overhead, which automatically leads to a reasonable reduction of power consumption. This algorithm avoids unnecessary communication by broadcasting global information which is in everybody’s interest and mean-while limits specific information which is in interest of some specific robots only. In addition, each robot would dynamically allocate the task to robots which are capable and most available. This feature makes the system robust against communication failures and robot failures. Simulation results demonstrate the efficiency and robustness of the proposed approach.

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Paper Citation


in Harvard Style

Meng Y. and Shah K. (2007). A Hybrid Dynamic Task Allocation Approach for a Heterogeneous Multi-Robot System . In Proceedings of the 3rd International Workshop on Multi-Agent Robotic Systems - Volume 1: MARS, (ICINCO 2007) ISBN 978-972-8865-86-6, pages 3-13. DOI: 10.5220/0001633800030013


in Bibtex Style

@conference{mars07,
author={Yan Meng and Kashyap Shah},
title={A Hybrid Dynamic Task Allocation Approach for a Heterogeneous Multi-Robot System},
booktitle={Proceedings of the 3rd International Workshop on Multi-Agent Robotic Systems - Volume 1: MARS, (ICINCO 2007)},
year={2007},
pages={3-13},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001633800030013},
isbn={978-972-8865-86-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 3rd International Workshop on Multi-Agent Robotic Systems - Volume 1: MARS, (ICINCO 2007)
TI - A Hybrid Dynamic Task Allocation Approach for a Heterogeneous Multi-Robot System
SN - 978-972-8865-86-6
AU - Meng Y.
AU - Shah K.
PY - 2007
SP - 3
EP - 13
DO - 10.5220/0001633800030013