Journal ArticleDOI
Ad Hoc Network-Based Task Allocation With Resource-Aware Cost Generation for Multirobot Systems
TLDR
A decentralized MRTA approach considering the robots' residual expendable resources and their limited communication ranges that minimization of unnecessary task performance cost caused by resource shortage of robots during task execution and the use of an ad hoc network among the robots to allow more robots to participate in the task allocation process.Abstract:
The objective of multirobot task allocation (MRTA) is to assign tasks to robots to minimize the overall cost of task performance. This paper proposes a decentralized MRTA approach considering the robots' residual expendable resources and their limited communication ranges. The proposed approach consists of two algorithms, namely, resource-aware cost generation (RCG) and ad hoc network-based task allocation (ANTA). The RCG algorithm allows each robot to generate a credible cost of task performance considering its residual resources in task planning. The ANTA algorithm constructs the minimal spanning tree network among the robots and determines the robot with the lowest cost for the task through multihop communication in a decentralized manner. The advantages of the proposed approach are minimization of unnecessary task performance cost caused by resource shortage of robots during task execution and the use of an ad hoc network among the robots to allow more robots to participate in the task allocation process. The effectiveness of the proposed approach is demonstrated through computer simulations for multirobot foraging as a test problem.read more
Citations
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Journal ArticleDOI
A Hierarchical Auction-Based Mechanism for Real-Time Resource Allocation in Cloud Robotic Systems
TL;DR: A hierarchical auction-based mechanism, namely link quality matrix (LQM) auction, which is suitable for ad hoc networks by introducing a link quality indicator, is proposed, which produces a fast and robust method that is accurate and scalable.
Journal ArticleDOI
Improvement of a Distributed Algorithm for Solving Linear Equations
TL;DR: This paper proves that the algorithm proposed by Mou et al. with special initialization is able to achieve the solution that is closest to a given point in the Euclidean distance and eliminates the required initialization step.
Journal ArticleDOI
A Study of Robotic Cooperation in Cloud Robotics: Architecture and Challenges
TL;DR: This paper studies robotic cooperation in cloud robotics, and proposes three novel robotic cooperation frameworks for cloud robotics: robotic knowledge sharing cooperation, robotic physical-task cooperation, and robotic computation task cooperation.
Journal ArticleDOI
Multiple-Solution Optimization Strategy for Multirobot Task Allocation
TL;DR: This paper presents a niching immune-based optimization algorithm based on Softmax regression (sNIOA) to handle multirobot task allocation (MRTA) problems and introduces a guiding mutation (GM) operator inspired by the base pair in theory of gene mutation into sN IOA to strengthen its search ability.
Journal ArticleDOI
Review on state-of-the-art dynamic task allocation strategies for multiple-robot systems
TL;DR: A comprehensive review on the variant state-of-the-art dynamic task allocation strategies and incites the salient research directions to the researchers in multi-robotynamic task allocation problems is provided.
References
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Journal ArticleDOI
A Formal Analysis and Taxonomy of Task Allocation in Multi-Robot Systems
Brian P. Gerkey,Maja J. Matarić +1 more
TL;DR: A domain-independent taxonomy of MRTA problems is given, and it is shown how many such problems can be viewed as instances of other, well-studied, optimization problems.
Journal ArticleDOI
Sold!: auction methods for multirobot coordination
Brian P. Gerkey,Maja J. Matarić +1 more
TL;DR: The primary contribution of the paper is to show empirically that distributed negotiation mechanisms such as MURDOCH are viable and effective for coordinating physical multirobot systems.
Journal ArticleDOI
Cyberbotics Ltd. Webots™: Professional Mobile Robot Simulation:
TL;DR: Webots™ lets you define and modify a complete mobile robotics setup, even several different robots sharing the same environment, and enable you to transfer your control programs to several commercially available real mobile robots.
Journal ArticleDOI
Market-Based Multirobot Coordination: A Survey and Analysis
TL;DR: An introduction to market-based multirobot coordination is provided, a review and analysis of the state of the art in the field, and a discussion of remaining research challenges are discussed.
Journal ArticleDOI
Coordinating Hundreds of Cooperative, Autonomous Vehicles in Warehouses
TL;DR: The Kiva warehouse management system as discussed by the authors creates a new paradigm for pick-pack-and-ship warehouses that significantly improves worker productivity by using movable storage shelves that can be lifted by small, autonomous robots.