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Development and Simulation of a Task Assignment Model for Multirobot Systems
B.B.Biswal, B.B.Choudhury
Pages - 12 - 23 | Revised - 15-08-2007 | Published - 30-08-2007
Published in International Journal of Engineering (IJE)
MORE INFORMATION
KEYWORDS
Multirobot, task allocation, allocation strategies, auction algorithms
ABSTRACT
Multirobot systems (MRS) hold the promise of improved performance and
increased fault tolerance for large-scale problems. A robot team can accomplish
a given task more quickly than a single agent by executing them concurrently. A
team can also make effective use of specialists designed for a single purpose
rather than requiring that a single robot be a generalist. Multirobot coordination,
however, is a complex problem. An empirical study is described in the present
paper that sought general guidelines for task allocation strategies. Different task
allocation strategies are identified, and demonstrated in the multi-robot
environment. A simulation study of the methodology is carried out in a simulated
grid world. The results show that there is no single strategy that produces best
performance in all cases, and that the best task allocation strategy changes as a
function of the noise in the system. This result is significant, and shows the need
for further investigation of task allocation strategies.
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Mr. B.B.Biswal
- India
bbbiswal@nitrkl.ac.in
Mr. B.B.Choudhury
- India
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