Skip to main content
Article thumbnail
Location of Repository

Development and Simulation of a Task Assignment Model for Multirobot Systems

By B. B. Biswal and B. B. Choudhury

Abstract

Multirobot systems (MRS) hold the promise of improved performance and increased fault tolerance for large-scale problems. A robot team can accomplish a given task more quickly than a single agent by executing them concurrently. A team can also make effective use of specialists designed for a single purpose rather than requiring that a single robot be a generalist. Multirobot coordination, however, is a complex problem. An empirical study is described in the present paper that sought general guidelines for task allocation strategies. Different task allocation strategies are identified, and demonstrated in the multi-robot environment. A simulation study of the methodology is carried out in a simulated grid world. The results show that there is no single strategy that produces best performance in all cases, and that the best task allocation strategy changes as a function of the noise in the system. This result is significant, and shows the need for further investigation of task allocation strategies

Topics: Multirobot, task allocation, allocation strategies, auction algorithms
Year: 2009
OAI identifier: oai:CiteSeerX.psu:10.1.1.135.6628
Provided by: CiteSeerX
Download PDF:
Sorry, we are unable to provide the full text but you may find it at the following location(s):
  • http://citeseerx.ist.psu.edu/v... (external link)
  • http://cssjournals.com/journal... (external link)
  • Suggested articles


    To submit an update or takedown request for this paper, please submit an Update/Correction/Removal Request.