An Algorithm for Allocating Structured Tasks in Multi-Robot Scenarios

Baségio, Túlio Lima; Bordini, Rafael H.

doi:10.1007/978-3-319-59394-4_10

Cited by 3 publications

(4 citation statements)

References 11 publications

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“…The average execution time of these simulations was 4 seconds for each simulation with 5 agents up to 15 seconds with 35 agents. In [1], tests with up to 60 tasks were also performed with similar results.…”

Section: The Task Allocation Mechanismmentioning

confidence: 75%

“…A version of the task allocation mechanism without the use of blockchain technology has been implemented and runs in BDI agents developed in JaCaMo framework. The algorithms that constitute the mechanism are detailed in [1], where initial results, obtained from Monte-Carlo simulations, demonstrate that the proposed mechanism seems to scale well, as well as provides near-optimal allocations.…”

Section: The Task Allocation Mechanismmentioning

confidence: 99%

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A Decentralised Approach to Task Allocation Using Blockchain

Baségio

Michelin

Zorzo

et al. 2018

Engineering Multi-Agent Systems

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One of the challenges in developing multi-robot systems is the design of appropriate coordination strategies in such a way that robots perform their operations efficiently. In particular, efficient coordination requires judicious task allocation. Without appropriate task allocation, the use of multi-robot systems in complex scenarios becomes limited or even unfeasible. Real-world scenarios usually require the use of heterogeneous robots and task fulfillment with different structures, constraints, and degrees of complexity. In such scenarios, decentralised solutions seem to be appropriate for task allocation, since centralised solutions represent a single point of failure for the system. During the allocation process, in decentralised approaches, there are often communication requirements, as participants need to share information. Maintaining data integrity, resilience, and security in data access are some of the important features for this type of solution. In that direction, we propose an architecture for dynamic and decentralised allocation of tasks built on the idea of having communication and coordination in a multi-agent system through a private blockchain.

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Section: The Task Allocation Mechanismmentioning

confidence: 75%

Section: The Task Allocation Mechanismmentioning

confidence: 99%

A Decentralised Approach to Task Allocation Using Blockchain

Baségio

Michelin

Zorzo

et al. 2018

Engineering Multi-Agent Systems

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“…The proposed mechanism was initially inspired from the work of Luo et al, but it is significantly different since we are working with different types of tasks, considering the use of roles and verification of constraints related to the heterogeneity of robots. Some of the ideas in this paper first appeared in an earlier work of the authors . In this paper, we provide further details about the process and algorithms, we provide new results from the comparison with the optimal solution and we introduced a comparison with other decentralized approaches.…”

Section: Introductionmentioning

confidence: 99%

“…11 In this paper, we provide further details about the process and algorithms, we provide new results from the comparison with the optimal solution and we introduced a comparison with other decentralized approaches. We also changed the way we determine the end of the allocation process; as in our earlier work, 11 we used the same approach as the work of Luo et al 8 In this paper, we use a flooding disaster scenario to exemplify our approach. Flooding disasters are typically very dynamic and have complex tasks to be executed.…”

Section: Introductionmentioning

confidence: 99%

Allocating structured tasks in heterogeneous agent teams

Baségio

Bordini

2018

Computational Intelligence

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Task allocation is an important aspect of multiagent coordination. However, there are many challenges in developing appropriate strategies for multiagent teams so that they operate efficiently. Real‐world scenarios such as flooding disasters usually require the use of heterogeneous robots and the execution of tasks with different structures and complexities. In this paper, we propose a decentralized task allocation mechanism considering different types of tasks for heterogeneous agent teams where agents play different roles and carry out tasks according to their own capabilities. We have run several experiments to evaluate the proposed mechanism. The results show that the proposed mechanism appears to scale well and provides near‐optimal allocations.

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