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    Distributed task rescheduling with time constraints for the optimization of total task allocations in a multirobot system

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    Name:
    IEEE Cybernetics paper - final ...
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    1.421Mb
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    Description:
    Publisher's PDF (Open Access CCBY)
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    Authors
    Turner, Joanna cc
    Meng, Qinggang
    Schaefer, Gerald
    Whitbrook, Amanda cc
    Soltoggio, Andrea
    Affiliation
    Loughborough University
    University of Derby
    Issue Date
    2017-09-28
    
    Metadata
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    Abstract
    This paper considers the problem of maximizing the number of task allocations in a distributed multirobot system under strict time constraints, where other optimization objectives need also be considered. It builds upon existing distributed task allocation algorithms, extending them with a novel method for maximizing the number of task assignments. The fundamental idea is that a task assignment to a robot has a high cost if its reassignment to another robot creates a feasible time slot for unallocated tasks. Multiple reassignments among networked robots may be required to create a feasible time slot and an upper limit to this number of reassignments can be adjusted according to performance requirements. A simulated rescue scenario with task deadlines and fuel limits is used to demonstrate the performance of the proposed method compared with existing methods, the consensus-based bundle algorithm and the performance impact (PI) algorithm. Starting from existing (PI-generated) solutions, results show up to a 20% increase in task allocations using the proposed method.
    Citation
    Turner, J. et al (2017) 'Distributed Task Rescheduling With Time Constraints for the Optimization of Total Task Allocations in a Multirobot System', IEEE Transactions on Cybernetics, DOI: 10.1109/TCYB.2017.2743164
    Publisher
    IEEE
    Journal
    IEEE Transactions on Cybernetics
    URI
    http://hdl.handle.net/10545/621889
    DOI
    10.1109/TCYB.2017.2743164
    Additional Links
    http://ieeexplore.ieee.org/document/8053456/
    Type
    Article
    Language
    en
    ISSN
    21682267
    EISSN
    21682275
    ae974a485f413a2113503eed53cd6c53
    10.1109/TCYB.2017.2743164
    Scopus Count
    Collections
    Department of Electronics, Computing & Maths

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