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

Journal article


Turner, Joanna, Meng, Qinggang, Schaefer, Gerald, Whitbrook, Amanda and Soltoggio, Andrea 2017. Distributed task rescheduling with time constraints for the optimization of total task allocations in a multirobot system. IEEE Transactions on Cybernetics. https://doi.org/10.1109/TCYB.2017.2743164
AuthorsTurner, Joanna, Meng, Qinggang, Schaefer, Gerald, Whitbrook, Amanda and Soltoggio, Andrea
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.

KeywordsDistributed task-allocation; Multiagent systems; Vehicle routing; Resource management; Robots; Optimization; Time factors; Fuel cells
Year2017
JournalIEEE Transactions on Cybernetics
PublisherIEEE
ISSN21682267
21682275
Digital Object Identifier (DOI)https://doi.org/10.1109/TCYB.2017.2743164
Web address (URL)http://hdl.handle.net/10545/621889
hdl:10545/621889
Publication dates28 Sep 2017
Publication process dates
Deposited24 Oct 2017, 09:46
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Archived with thanks to IEEE Transactions on Cybernetics

ContributorsLoughborough University and University of Derby
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