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Assignment algorithms for modeling resource contention and interference in multi-robot task-allocation

Changjoo Nam, Dylan A. Shell
2014 2014 IEEE International Conference on Robotics and Automation (ICRA)  
In this variant, robots may have multiple ways to perform a task (e.g., several routes to reach a destination, or use of other shared resources), and interference may be modeled as occurring when multiple  ...  The other two algorithms find an optimal assignment in a short time even if a problem is of considerable size (e.g., in the linear case, 0.5786 sec for 100 robots) and a high-quality solution quickly (  ...  Multi-robot task-allocation (MRTA) addresses optimization of collective performance by reasoning about which robots in the team should perform which tasks.  ... 
doi:10.1109/icra.2014.6907156 dblp:conf/icra/NamS14 fatcat:of77dzps3rbzbbqye52mx4qhfm

Assignment Algorithms for Modeling Resource Contention in Multirobot Task Allocation

Changjoo Nam, Dylan A. Shell
2015 IEEE Transactions on Automation Science and Engineering  
We consider a multi-robot task allocation (MRTA) problem where costs of performing tasks are interrelated so that the overall performance of the team need not be a standard sumof-costs (or utilities) model  ...  Whenever robots use shared resources (e.g., narrow passages, limited communication bandwidth), resource contention and physical interference may cause performance to degrade.  ...  Fig. 7 : An example in which both synergy and resource contention occur while robots perform individual tasks.  ... 
doi:10.1109/tase.2015.2415514 fatcat:fx65r3ffjzba3duejtt3godv3a

Message Expiration-Based Distributed Multi-Robot Task Management [article]

Yikang Gui, Ehsan Latif, Ramviyas Parasuraman
2022 arXiv   pre-print
Our approach handles the conflicts caused by a disconnection in the distributed multi-robot system by using distance-based and timestamp-based measurements to validate the task allocation for each robot  ...  Distributed task assignment for multiple agents raises fundamental and novel control theory and robotics problems.  ...  We proposed a novel expiration-validation-based approach for multi-robot task management of persistent tasks without conflicts on an energy-constrained swarm robotics system.  ... 
arXiv:2201.02750v1 fatcat:uzrozbub45anjatxvrdyscg2ri

Harnessing coherence of area decomposition and semantic shared spaces for task allocation in a robotic fleet

Domagoj Drenjanac, Slobodanka Dana Kathrin Tomic, Lukas Klausner, Eva Kühn
2014 Information Processing in Agriculture  
A general requirement in a task allocation algorithm is to find an optimal set of robots to execute a certain task.  ...  To reduce spatial interference between robots, area decomposition algorithm divides a working area into cells which are then dynamically assigned to robots.  ...  The Telecommunications Research Center Vienna (FTW) is supported by the Austrian government and the City of Vienna within the competence center program COMET.  ... 
doi:10.1016/j.inpa.2014.03.001 fatcat:fvlydjgdyzasfottbcczqtqtii

Online Task Assignment and Coordination in Multi-Robot Fleets

Paolo Forte, Anna Mannucci, Henrik Andreasson, Federico Pecora
2021 IEEE Robotics and Automation Letters  
We exploit systematic search for optimal task assignment, where interference is considered as a cost and estimated with knowledge of the kinodynamic models and current state of the robots.  ...  algorithms for task assignment.  ...  Many authors recognize that task assignment requires reasoning about individual robot capabilities as well as resource contention.  ... 
doi:10.1109/lra.2021.3068918 fatcat:urk5gmj5urgp3o4z3cpppb7ilu

Coalition Formation: From Software Agents to Robots

Lovekesh Vig, Julie A. Adams
2007 Journal of Intelligent and Robotic Systems  
Finally, the paper investigates the notion of task preemption for complex multi-robot tasks in random allocation environments.  ...  Numerous algorithms for software agent coalition formation have been provided that allow for efficient cooperation in both competitive and cooperative environments.  ...  Robotic agents operate in the real world and have to account for issues of interference between robots, obstacle avoidance, etc.  ... 
doi:10.1007/s10846-007-9150-0 fatcat:6xjq6hdrgjho7cyoo7fq4sd2ri

A Critical Review of Communications in Multi-Robot Systems [article]

Jennifer Gielis, Ajay Shankar, Amanda Prorok
2022 arXiv   pre-print
We also highlight the role that data-driven and machine learning approaches play in evolving communication pipelines for multi-robot systems.  ...  We present a critical view of the way robotic algorithms and their networking systems have evolved, and make the case for a more synergistic approach.  ...  Examples: In allocation problems, the optimization objective is often global, and to achieve optimality, we deploy centralized algorithms that collect all robot-to-task assignment costs (e.g., expected  ... 
arXiv:2206.09484v1 fatcat:2bdjgm53ozgibldtrfudsnhl4a

Multi-Agent Task Allocation for Robot Soccer

Khashayar R. Baghaei, Arvin Agah
2007 Journal of Intelligent Systems  
This paper models and analyzes task allocation methodologies for multiagent systems. The evaluation process was implemented as a collection of simulated soccer matches.  ...  A soccer-simulation software package was used as the test-bed as it provided the necessary features for implementing and testing the methodologies.  ...  ACKNOWLEDGMENT This work was sponsored in parts by a grant from the Kansas NASA EPSCoR Program (KNEP).  ... 
doi:10.1515/jisys.2007.16.3.207 fatcat:ohu5yfuoinbxpheu5gphb346pm

A Robust Robotic Disassembly Sequence Design Using Orthogonal Arrays and Task Allocation

Mohammad Alshibli, Ahmed ElSayed, Elif Kongar, Tarek Sobh, Surendra Gupta
2019 Robotics  
In order to further improve the solution, a distributed task allocation technique is also introduced into the model environment to accommodate multiple robot arms.  ...  A comparison with an exhaustive search is also conducted to verify the efficiency of the algorithm in generating an optimum or near-optimum disassembly sequence for a given product.  ...  [28] proposed an efficient, near-optimal, and a multi-criteria decision making technique-based heuristic for assigning disassembly tasks to available workstations.  ... 
doi:10.3390/robotics8010020 fatcat:ftcfjmv5nrdnxjbesvkisqj6u4

Machine Learning Methods for Management UAV Flocks - a Survey

Rina Azoulay, Yoram Haddad, Shulamit Reches
2021 IEEE Access  
INDEX TERMS Collaborative unmanned aerial vehicles, machine learning, multi-robot systems, reviews, unmanned aerial vehicles. 139146 This work is licensed under a Creative Commons Attribution 4.0 License  ...  Thereafter, we describe various open issues in which ML can be applied to solve the different challenges of flocks, and we suggest means of using ML methods for this purpose.  ...  Their study focused on the task allocation situation in which different types of UAVs were assigned to several tasks and the tasks required certain resources.  ... 
doi:10.1109/access.2021.3117451 fatcat:f6xli6srencw3ezqg5fyzwmuie

Multi-Robot On-site Shared Analytics Information and Computing [article]

Joshua Vander Hook and Federico Rossi and Tiago Vaquero and Martina Troesch and Marc Sanchez Net and Joshua Schoolcraft and Jean-Pierre de la Croix and Steve Chien
2021 arXiv   pre-print
In this paper we introduce a communication-aware, computation task scheduling problem for multi-robot systems and propose an integer linear program (ILP) that optimizes the allocation of computational  ...  tasks across a network of heterogeneous robots, accounting for the networked robots' computational capabilities and for available (and possibly time-varying) communication links.  ...  ACKNOWLEDGEMENTS This work was carried out at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration.  ... 
arXiv:2112.06879v1 fatcat:jng5dy63ujgeblfejngty6tp3i

Concepts for 3D Printing-Based Self-Replicating Robot Command and Coordination Techniques

Andrew Jones, Jeremy Straub
2017 Machines  
Butler, Murata, and Rus [7] presented algorithms for this purpose.  ...  Self-replicating robots represent a new area for prospective advancement in robotics.  ...  Acknowledgments: Facilities, materials, and equipment used for this work have been supplied by the North Dakota State University (NDSU) Department of Computer Science and NDSU College of Science and Math  ... 
doi:10.3390/machines5020012 fatcat:d23w7ztl7jgltaq4v4ejdjuedu

Guest Editorial Special Issue on Networked Cooperative Autonomous Systems

Lorenzo Sabattini, Frank Ehlers, Don Sofge
2015 IEEE Transactions on Automation Science and Engineering  
Nam et al. model the resource contention problem as a task assignment problem.  ...  With the proposed methodology, a team of robots is able to choose one of a set of shared resources to perform a task, and interference is modeled when multiple robots attempt to use the same resource.  ...  In this paper, authors define a methodology for achieving self-assembly of large teams of autonomous robotic boats into floating platforms.  ... 
doi:10.1109/tase.2015.2433832 fatcat:y2f4is7ayfcsboqt2rl3xuy2qu

Multirobot Cooperative Model Applied to Coverage of Unknown Regions [chapter]

Eduardo Gerlein, Enrique Gonzalez
2011 Multi-Robot Systems, Trends and Development  
For the particular task of coverage, the physical space is a resource and a goal at the same time.  ...  Tests and simulation results show the convenience of using robot teams for coverage tasks and multi-agent approach to coordinate their actions.  ...  This book is a collection of 29 excellent works and comprised of three sections: task oriented approach, bio inspired approach, and modeling/design.  ... 
doi:10.5772/13241 fatcat:6733ivkcfbfwpp47aumul6ol5a

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)  
algorithms in multi-robot task allocation is explored in four chapters. First, we propose a taxonomy for task allocation problems with temporal and ordering constraints.  ...  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  ... 
doi:10.1109/simpar.2016.7862396 dblp:conf/simpar/NunesMG16 fatcat:uxfvmpmmxbbwzn7zm232eob7mu
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