2006
DOI: 10.1109/jproc.2006.876937
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Assignment of Dynamically Perceived Tasks by Token Passing in Multirobot Systems

Abstract: The problem of assigning tasks to a group of robots acting in a dynamic environment is a fundamental issue for a Multi Robot System (MRS) and several techniques have been studied to address this problem. Such techniques usually rely on the assumption that tasks to be assigned are inserted into the system in a coherent fashion. In this work we consider a scenario where tasks to be accomplished are perceived by the robots during mission execution. This issue has a significative impact on the task allocation proc… Show more

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Cited by 34 publications
(22 citation statements)
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References 27 publications
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“…Also, in order to avoid passing the token to agents that have already rejected it, each token may carry a list of agents that had already had that token. In [6] a technique is presented that allows agents to coordinate tokens' creation and ownership when the same tasks are perceived by more than one agent. Their method resolves the conflicts and avoids having more than one token representing the same task.…”
Section: La-dcopmentioning
confidence: 99%
“…Also, in order to avoid passing the token to agents that have already rejected it, each token may carry a list of agents that had already had that token. In [6] a technique is presented that allows agents to coordinate tokens' creation and ownership when the same tasks are perceived by more than one agent. Their method resolves the conflicts and avoids having more than one token representing the same task.…”
Section: La-dcopmentioning
confidence: 99%
“…Previously described market-based approaches suffer from a large requirement in terms of communication bandwidth as they use broadcast messages to auction for the tasks. Farinelli et al [26] proposed a mechanism based on token passing for cooperative object retrieval, which scales up for reliable sending of broadcast messages. The authors made a comparison of their method with market-based approaches and the ones based on iterative broadcast communication.…”
Section: B Scalabilitymentioning
confidence: 99%
“…In fact, it takes into account all our crucial requirements, guaranteeing good performance on dynamic unpredictable change in the environment [11], the absence of conflicts in task assignment [10], and avoiding massive broadcast communication among the team members [12]. The token mechanism in our approach will be used as a mean to allow arguing among different proposals and exchanging observations among agents, whose overall goal is to pro-actively perform Situation Assessment.…”
Section: Distributed Assessment Protocolmentioning
confidence: 99%