CoMutaR: A framework for multi-robot coordination and task allocation

Shiroma, Pedro Mitsuo; Campos, Mário F. M.

doi:10.1109/iros.2009.5354166

Cited by 37 publications

(22 citation statements)

References 14 publications

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“…They verified their algorithm in a multi-robot formation control problem. Shiroma and Campos [114] proposed a framework called CoMutaR, which is designed to tackle both task allocation and task coordination problems in MRS. This framework enables a single robot to perform multiple tasks concurrently by periodically checking and updating task-related information during implementation.…”

Section: Task Planningmentioning

confidence: 99%

A Survey and Analysis of Multi-Robot Coordination

Yan

Jouandeau

Chérif

2013

International Journal of Advanced Robotic Systems

533

279

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In the field of mobile robotics, the study of multi-robot systems (MRSs) has grown significantly in size and importance in recent years. Having made great progress in the development of the basic problems concerning single-robot control, many researchers shifted their focus to the study of multi-robot coordination. This paper presents a systematic survey and analysis of the existing literature on coordination, especially in multiple mobile robot systems (MMRSs). A series of related problems have been reviewed, which include a communication mechanism, a planning strategy and a decision-making structure. A brief conclusion and further research perspectives are given at the end of the paper.

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Section: Task Planningmentioning

confidence: 99%

A Survey and Analysis of Multi-Robot Coordination

Yan

Jouandeau

Chérif

2013

International Journal of Advanced Robotic Systems

533

279

View full text Add to dashboard Cite

show abstract

“…Approximation algorithms provide solution quality guarantees, but suffer from poor worst-case run-time complexity, which can render them inappropriate for real-time applications (Dang and Jennings, 2004;Rahwan et al, 2009;Liemhetcharat and Veloso, 2014). Market-based techniques offer fault-tolerance for a distributed system, but have high communication processing requirements (Dias, 2004;Dias et al, 2005;Vig and Adams, 2006a;Shiroma and Campos, 2009;Service et al, 2014). Biologically inspired ant colony optimization algorithms have been applied to several NP-complete problems including coalition formation (Xia et al, 2004;Ren et al, 2008;Sen and Adams, 2015).…”

Section: Ii2 Coalition Formationmentioning

confidence: 99%

Hybrid mission planning with coalition formation

Dukeman

Adams

2017

Auton Agent Multi-Agent Syst

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“…For a more structured interface, ASyMTRe uses information type 3 as input and output labels of schemas (i.e., modules) to attach information with semantic meanings. Schemas can only be activated when their input information types are satisfied; they also produce specified output information types.…”

Section: Related Workmentioning

confidence: 99%

“…Approaches that also enable autonomous reasoning with capability sharing [2], [3] have been shown to further improve the system flexibility in tightly coupled multirobot tasks. However, an important issue that remains unaddressed is that the constraints introduced by the required interactions are not considered; these constraints determine the feasibility of the potential coalitions.…”

mentioning

confidence: 99%

IQ-ASyMTRe: Forming Executable Coalitions for Tightly Coupled Multirobot Tasks

Zhang

Parker

2013

IEEE Trans. Robot.

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Abstract-While most previous research on forming coalitions mainly concentrates on loosely coupled multirobot tasks, a more challenging problem is to address tightly coupled multirobot tasks that involve close robot coordinations, which often require capability sharing. General methods for autonomous capability sharing have been shown to greatly improve the flexibility of distributed systems. However, in addition to the interaction constraints between the robots and the environment as required by the tasks, these methods may introduce additional interaction constraints between the robots based on how the capabilities are shared. The satisfiability of these constraints in the current situation determines the feasibility of the potential coalitions. To achieve system autonomy, the ability to identify the potential coalitions that are feasible for task execution is critical. In this paper, we demonstrate a general approach that incorporates this capability based on the ASyMTRe architecture. The extended architecture, which is called IQ-ASyMTRe, is able to find coalitions in which these required constraints are satisfied. When used to form coalitions, IQ-ASyMTRe sets up only feasible coalitions, thus enabling tasks to be executed autonomously. We formally present the new architecture and prove that it is sound and complete, given certain assumptions. Simulations and experimental results are provided for different applications in which the robots are able to flexibly form coalitions that are ready to execute.

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CoMutaR: A framework for multi-robot coordination and task allocation

Cited by 37 publications

References 14 publications

A Survey and Analysis of Multi-Robot Coordination

A Survey and Analysis of Multi-Robot Coordination

Hybrid mission planning with coalition formation

IQ-ASyMTRe: Forming Executable Coalitions for Tightly Coupled Multirobot Tasks

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