Moving task allocation and reallocation method based on body expansion behaviour for distributed multi-robot coordination Online publication date: Thu, 29-Nov-2012
by Guanghui Li; Yusuke Tamura; Atsushi Yamashita; Hajime Asama
International Journal of Mechatronics and Automation (IJMA), Vol. 2, No. 4, 2012
Abstract: The inconvenience and cost of utilising existing task assignment approaches to resolve dynamical mobile task allocation. For such new domain, we first propose a method, called dynamical-sequential task allocation and reallocation, by implementing multi-round negotiation and body expansion behaviour. Every former half time step, robots negotiate sequentially and select tasks to perform, and declare the information to other robots. When all robots have finished first time selection, then the remaining unselected robots choose the remaining unassigned tasks again sequentially at the latter half time step. We set two distance thresholds for robot decision-making to apply body expansion behaviour. The advantages of our methodology are demonstrated by comparison with existing algorithms, simulation results demonstrate that the efficiency for whole system to accomplish given tasks is improved by utilising our approach. Moreover, it is more conducive to reduce the numerous computational time and communication compared with existing investigated task assignment methods.
Online publication date: Thu, 29-Nov-2012
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Mechatronics and Automation (IJMA):
Login with your Inderscience username and password:
Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.
If you still need assistance, please email email@example.com