Dynamic Task Allocation in Cooperative Robot Teams

Athanasios Tsalatsanis, Ali Yalcin, Kimon. P. Valavanis
2009 International Journal of Advanced Robotic Systems  
In this paper a dynamic task allocation and controller design methodology for cooperative robot teams is presented. Fuzzy logic based utility functions are derived to quantify each robot's ability to perform a task. These utility functions are used to allocate tasks in real-time through a limited lookahead control methodology partially based on the basic principles of discrete event supervisory control theory. The proposed controller design methodology accommodates flexibility in task
more » ... y in task assignments, robot coordination, and tolerance to robot failures and repairs. Implementation details of the proposed methodology are demonstrated through a warehouse patrolling case study.
doi:10.5772/7257 fatcat:4zi7pxzvkfauhdlztyq5zwwa7y