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Analyzing the sensitivity of the optimal assignment in probabilistic multi-robot task allocation

Changjoo Nam, Dylan A. Shell
2016 IEEE Robotics and Automation Letters  
We analyze the sensitivity of assignment optima to particular risk valuations and introduce algorithms that provide an interval for the preference parameter in which all values result in the same optimal  ...  We consider multi-robot teams operating in uncertain dynamic settings where the costs used for computing taskallocations are not known exactly.  ...  INTRODUCTION Given a team of robots and a set of tasks, multi-robot task allocation (MRTA) is concerned with selecting the best task for each robot to perform.  ... 
doi:10.1109/lra.2016.2588138 dblp:journals/ral/NamS17 fatcat:2a5mcvbc2ff7fdryr3c3u2v5iy

Desperate Times Call for Desperate Measures: Towards Risk-Adaptive Task Allocation [article]

Max Rudolph, Sonia Chernova, Harish Ravichandar
2021 arXiv   pre-print
Multi-robot task allocation (MRTA) problems involve optimizing the allocation of robots to tasks.  ...  We also demonstrate the effectiveness of our approach using a simulated multi-robot emergency response scenario.  ...  Within MRTA, we focus on the single-task robots multi-robot tasks instantaneous assignment (ST-MR-IA) problem in heterogeneous multi-robot teams (see [2] , [3] for detailed treatments of the various  ... 
arXiv:2108.00346v2 fatcat:6kgmnhkd4rbnhhavlws6qjsqo4

Decentralized multi-robot allocation of tasks with temporal and precedence constraints

Ernesto Nunes, Mitchell McIntire, Maria Gini
2017 Advanced Robotics  
Related Work Methods for multi-robot task allocation can be broadly categorized into centralized, decentralized, and hybrid; and depending on the optimality of the solution, exact or heuristic.  ...  In our approach each robot owns its schedule for the subset of tasks assigned to it. A schedule is represented as a simple temporal network (STN) [4] , which stores the execution times of the tasks.  ...  This problem falls under the XD[ST-SR-TA = Single-Task robot, Single-Robot task, Time-extended Assignment] category of the Multi-Robot Task Allocation (MRTA) taxonomy given in [2] , since precedence constraints  ... 
doi:10.1080/01691864.2017.1396922 fatcat:nvbk2pv4dve67bsaeywxoynpm4

Assessing optimal assignment under uncertainty: An interval-based algorithm

Lantao Liu, Dylan A Shell
2011 The international journal of robotics research  
We conduct experiments both in simulation and with physical robots to validate the approach and to gain insight into the effect of location uncertainty on allocations for multi-robot multi-target navigation  ...  matrix) which will retain the same optimal assignment.  ...  We consider the archetype multi-robot task-allocation problem which involves performing an instantaneous assignment of single-task robots to single-robot tasks (following the taxonomic characterization  ... 
doi:10.1177/0278364911404579 fatcat:3zhpdddegzejhm4kjmdqbgk2pu

Assessing Optimal Assignment under Uncertainty: An Interval-based Algorithm

L. Liu, D. Shell
2010 Robotics: Science and Systems VI  
We conduct experiments both in simulation and with physical robots to validate the approach and to gain insight into the effect of location uncertainty on allocations for multi-robot multi-target navigation  ...  matrix) which will retain the same optimal assignment.  ...  We consider the archetype multi-robot task-allocation problem which involves performing an instantaneous assignment of single-task robots to single-robot tasks (following the taxonomic characterization  ... 
doi:10.15607/rss.2010.vi.016 dblp:conf/rss/LiuS10 fatcat:wnk5r6ec2zecvp5jtufwpvn43u

Distributed Mission Planning of Complex Tasks for Heterogeneous Multi-Robot Teams [article]

Barbara Arbanas Ferreira, Tamara Petrović, Stjepan Bogdan
2021 arXiv   pre-print
In this paper, we propose a distributed multi-stage optimization method for planning complex missions for heterogeneous multi-robot teams.  ...  This class of problems involves tasks that can be executed in different ways and are associated with cross-schedule dependencies that constrain the schedules of the different robots in the system.  ...  They usually solve the task allocation problem, where robots use bidding mechanisms for simple tasks that they assign to each other.  ... 
arXiv:2109.10106v1 fatcat:naikx3o72rgwxnvlz2cbdo3qyi

Multi-Robot Coordination and Planning in Uncertain and Adversarial Environments [article]

Lifeng Zhou, Pratap Tokekar
2021 arXiv   pre-print
We find the following three trends in the recent research in the area of multi-robot coordination: (1) resilient coordination to either withstand failures and/or attack or recover from failures/attacks  ...  These algorithms have been applied to tasks such as formation control, task assignment and scheduling, search and planning, and informative data collection.  ...  Compliance with Ethical Standards Conflict of Interest The authors declare that they have no conflict of interest.  ... 
arXiv:2105.00389v1 fatcat:bwnyxvpvzjfrbjxyiysnmq5e74

Decentralized allocation of tasks with temporal and precedence constraints to a team of robots

Ernesto Nunes, Mitchell McIntire, Maria Gini
2016 2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)  
Task allocation is performed by a recursive search over feasible allocations. 3. 8 8 MT-MR-TA:TW -Multi-Task robots, Multi-Robot tasks, Time-Extended Assignments: Time WindowsMulti-task robots and multi-robot  ...  The taxonomy is the first in the multi-robot task allocation literature to focus specifically on these constraints.  ... 
doi:10.1109/simpar.2016.7862396 dblp:conf/simpar/NunesMG16 fatcat:uxfvmpmmxbbwzn7zm232eob7mu

Hierarchical Task Assignment and Path Finding with Limited Communication for Robot Swarms

Dario Albani, Wolfgang Hönig, Daniele Nardi, Nora Ayanian, Vito Trianni
2021 Applied Sciences  
In such scenarios, multi-robot systems and even swarms of robots can be exploited to service different areas in parallel.  ...  the allocation of robots to areas to be serviced, and a search-based path planning approach for the actual routing of robots towards tasks to be executed.  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/app11073115 fatcat:5mu2a4qc7bfolfl6y2mrgixika

Intelligent Exploration Approaches Based on Utility Functions Optimization for Multi-Agent Environment Applications

José Oñate-López, Loraine Navarro, Christian G. Quintero M., Mauricio Pardo
2021 Applied Sciences  
It is proposed to compare the fitting of the market utility function using neural networks and optimize this function using genetic algorithms to avoid heavy computation in the Non-Polynomial (NP: nondeterministic  ...  In this work, the problem of exploring an unknown environment with a team of agents and search different targets on it is considered.  ...  Conflicts of Interest: The authors declare that there are no conflicts of interest regarding the publication of this paper.  ... 
doi:10.3390/app11052408 fatcat:s2sxt4mbbng7tiedqencrlhvgq

Multi-robot Teams for Environmental Monitoring [chapter]

Maria Valera Espina, Raphael Grech, Deon De Jager, Paolo Remagnino, Luca Iocchi, Luca Marchetti, Daniele Nardi, Dorothy Monekosso, Mircea Nicolescu, Christopher King
2011 Studies in Computational Intelligence  
The system presented in the chapter provides enhanced multi-robot coordination and vision-based activity monitoring techniques.  ...  The main objective is the integration and development of coordination techniques for multi-robot environment coverage, with the goal of maximizing the quality of information gathered from a given area  ...  The problem considered here requires both finding an optimal allocation of tasks among the robots and taking into account tasks that are discovered at runtime.  ... 
doi:10.1007/978-3-642-18278-5_8 fatcat:vkfr2ryiknhhjhngbvhdpc2gne

Multi-Robot Coordination Analysis, Taxonomy, Challenges and Future Scope

Janardan Kumar Verma, Virender Ranga
2021 Journal of Intelligent and Robotic Systems  
We have also analyzed that how coordination can be achieved and improved in two fundamental problems, i.e., multi-robot motion planning, and task planning, and in various application domains of MRS such  ...  Recently, Multi-Robot Systems (MRS) have attained considerable recognition because of their efficiency and applicability in different types of real-life applications.  ...  However, in explicit coordination, tasks are explicitly allocated, and this problem is known as "multi-robot task allocation (MRTA)".  ... 
doi:10.1007/s10846-021-01378-2 pmid:33879973 pmcid:PMC8051283 fatcat:pzwd7tx47zd6jazdk753ucmsbi

Swarm robotics: a review from the swarm engineering perspective

Manuele Brambilla, Eliseo Ferrante, Mauro Birattari, Marco Dorigo
2013 Swarm Intelligence  
In this paper, we analyze the literature from the point of view of swarm engineering: we focus mainly on ideas and concepts that contribute to the advancement of swarm robotics as an engineering field  ...  Swarm robotics is an approach to collective robotics that takes inspiration from the self-organized behaviors of social animals.  ...  We also thank the authors of the images reproduced in this paper for granting us publication permissions.  ... 
doi:10.1007/s11721-012-0075-2 fatcat:geyjmq52ijerhcoqwgqqihcgoq

Bundling Policies for Sequential Stochastic Tasks in Multi-robot Systems [chapter]

Changjoo Nam, Dylan A. Shell
2018 Distributed Autonomous Robotic Systems  
This paper studies multi-robot task allocation in settings where tasks are revealed sequentially for an infinite or indefinite time horizon, and where robots may execute bundles of tasks.  ...  This paper explores the problem of optimizing bundle size with respect to the two objectives and their trade-off.  ...  Acknowledgments This work was supported in part by NSF awards IIS-1302393 and IIS-1453652.  ... 
doi:10.1007/978-3-319-73008-0_17 dblp:conf/dars/NamS16 fatcat:tq6induhcnb4vee6klkjisgx7e

Communication-Aware Multi-Agent Metareasoning for Decentralized Task Allocation

Estefany Carrillo, Suyash Yeotikar, Sharan Nayak, Mohamed Khalid M. Jaffar, Shapour Azarm, Jeffrey W. Herrmann, Michael Otte, Huan Xu
2021 IEEE Access  
In the assignment phase, the Hungarian algorithm [42] is run on the cost matrix to obtain the optimal task assignment.  ...  We follow the multi-layered agent model outlined in [40] to solve the problem of decentralized task allocation.  ... 
doi:10.1109/access.2021.3096229 fatcat:jgkokpvggzezbhvpnarb32nrvi
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