Comparative Analysis of Simulated Annealing and Particle Swarm Optimization for Multi-Robot Task Allocation in ROS

Dhruv Kumar Sharma, Ujjwal Singh, Snehal Nalawade, Pratik Shah

2025

Abstract

A comparative analysis of two prominent optimization techniques—simulated annealing (SA) and particle swarm optimization (PSO)—is conducted within the framework of multi-robot systems (MRS). The research investigates how each algorithm effectively allocates tasks among multiple robots, focusing on performance metrics, convergence speed, and robustness in dynamic environments. Through extensive simulations in ROS, utilizing a dedicated testbed for real-world scenario emulation, distinct advantages and limitations of both algorithms are revealed across various setups. The testbed integrates realistic garbage generation, dynamic obstacles, and robot interactions, allowing for detailed empirical evaluations. The study highlights the practical implications of using SA and PSO for multi-robot coordination, laying the groundwork for future research on hybrid approaches and algorithmic enhancements in complex robotic applications.

Paper Citation

in Harvard Style

Sharma D., Singh U., Nalawade S. and Shah P. (2025). Comparative Analysis of Simulated Annealing and Particle Swarm Optimization for Multi-Robot Task Allocation in ROS. In Proceedings of the 17th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART; ISBN 978-989-758-737-5, SciTePress, pages 481-488. DOI: 10.5220/0013192000003890

in Bibtex Style

@conference{icaart25,
author={Dhruv Sharma and Ujjwal Singh and Snehal Nalawade and Pratik Shah},
title={Comparative Analysis of Simulated Annealing and Particle Swarm Optimization for Multi-Robot Task Allocation in ROS},
booktitle={Proceedings of the 17th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART},
year={2025},
pages={481-488},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0013192000003890},
isbn={978-989-758-737-5},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 17th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART
TI - Comparative Analysis of Simulated Annealing and Particle Swarm Optimization for Multi-Robot Task Allocation in ROS
SN - 978-989-758-737-5
AU - Sharma D.
AU - Singh U.
AU - Nalawade S.
AU - Shah P.
PY - 2025
SP - 481
EP - 488
DO - 10.5220/0013192000003890
PB - SciTePress