Robot Task Allocation Using Signal Propagation Model

Małgorzata Żabińska, Tomasz Sośnicki, Wojciech Turek, Krzysztof Cetnarowicz
2013 Procedia Computer Science  
The problem of Multi-Robot Task Allocation has received significant attention over last years. The solutions with decentralized decision making have proven better durability than those using centralized planning. In this paper a method which does not use any explicit communication is presented. It is especially suitable for very high dynamics of tasks priorities, when other methods must often perform time-consuming replanning. The method uses a simple model of signal emission and propagation in
more » ... and propagation in the environment. Simulation experiments are provided to demonstrate usability and interesting features of the method.
doi:10.1016/j.procs.2013.05.318 fatcat:bcz6ucknvbayznsmt43vuq2olq