Task Allocation Methods for Multi-Robot Systems

Type | PhD project
Duration | -
Project leader José Guerrero Sastre
Collaborators Gabriel Oliver Codina

DESCRIPTION

Design of new methods of task allocation for multi-robot systems. It is well known that multi-robot systems can provide some advantages over single robots: robustness, flexibility and efficiency among others. To benefit from these potential aspects the robots must cooperate to carry out a common mission. Among typical problems for multi-robot systems, we centre our work on task allocation aspects, that is, selecting the best robots to carry out different tasks. When forming task-groups the number of robots has an important impact on the system performance, due, for example, to the interference effect, which is the result of competition for the shared space. Therefore, a good task allocation mechanism must decide on the best number of robots needed to carry out each task, provided priorities and deadlines will be taken into account. The methods we are working on are mainly inspired on auction and threshold mechanisms.Some of the topics we work on are: teams formation, leader to leader negotiation, heterogeneous teams formation, and deadlines influence, physical interference impact modelling.To test the developed methods we have some facilities in our lab, which include, a special purpose simulator (RoboCoT) and a five Pioneer 3DX team.

PUBLICATIONS

J. Guerrero, G. Oliver. Auction and Swarm Multi-Robot Task Allocation Algorithms in Real Time Scenarios. In Multi-Robot Systems, Trends and Development, InTech, Toshiyuki Yasuda, pp. 437-456, 2011.

J. Guerrero, G. Oliver. A Multi-Robot task Allocation Swarm Method to Execute Tasks with Deadlines. In 7th IFAC Symposium on Intelligent Autonomous Vehicles (IAV 2010), Lecce (Italy), 2010.

J. Guerrero. Assignació de tasques en sistemes multirobot: metodologia i experimentació. 2005.

J. Guerrero, G. Oliver, A. Ortiz. On Simulating Behaviour-based Robot Colonies in the Classroom. In First EURON Workshop on Robotics Education and Training (RET), Weigarten (Germany), 2001.

J. Guerrero, G. Oliver. Physical Interference Impact in Multi-Robot Task Allocation Methods. In IEEE Workshop on Distributed Intelligent Systems, Prague (Czech Republic), 2006.

J. Guerrero, G. Oliver. Multi-Robot and Interference Impact in Multi-robot Auction Methods. In Workshop on Auction Mechanisms for Robot Coordination, Boston (USA), 2006.

J. Guerrero, G. Oliver. Auction Like Task Allocation and Motion Coordination Strategies for Multi-Robot Transport Tasks. In 1st International Workshop on Multi-Agent Robotic Systems, Barcelona (Spain), 2005 .

J. Guerrero, G. Oliver. Multi-Robot Task Allocation Methods for Heterogeneous Tasks with Priorities. In International Symposium on Distributed Autonomous Robotics Systems (DARS), Toulouse (France), 2004.

J. Guerrero, G. Oliver. Multi-Robot Task Allocation Strategies Using Auction-Like Mechanisms. In Catalan Conference on Artificial Intelligence (CCIA, Artificial Intelligence Research and Development, vol. 100 - IOS Press), Palma de Mallorca (Spain), 2003.

J. Guerrero, G. Oliver. A Multi-Robot Task Allocation Method To Regulate Working Groups Sizes. In European Conference on Mobile Robots (ECMR), Radziejowice (Poland), 2003.

J. Guerrero, G. Oliver, A. Ortiz. Experiments design using a mobile robots simulator. In IEEE-TTTC International Conference on Automation, Quality and Testing Robotics (AQTR), Cluj-Napoca (Romania), 2002.

J. Guerrero, G. Oliver. Interference Modelization in Multi-Robot Auction Methods. In IFAC Symposium on Intelligent Autonomous Vehicles (IAV), Toulouse (France), 2007.

J. Guerrero, A. Ortiz, G. Oliver. RoboCoT: Simulador de colonias de robots móviles. In Jornadas de Enseñanza Universitaria de Informática (JENUI), 2001.


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