Efficient distributed algorithm of dynamic task assignment for swarm robotics

Mendonça, Rafael Mathias de; Nedjah, Nadia; Mourelle, Luiza de Macedo

doi:10.1016/j.neucom.2015.05.117

Cited by 16 publications

(1 citation statement)

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“…A group decision mechanism was proposed for task selection under the robot's new task execution time, which significantly improved the system's task completion efficiency [18]. Mendona et al [19] proposed a simple and effective distributed control algorithm to realize swarm robots' dynamic task allocation. The algorithm is based on decentralized management to achieve and maintain some predefined task allocation ratio.…”

Section: Related Workmentioning

confidence: 99%

Dynamic Task Allocation Method of Swarm Robots Based on Optimal Mass Transport Theory

Wang

Mao

2020

Symmetry

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It is difficult for swarm robots to allocate tasks efficiently by self-organization in a dynamic unknown environment. The computational cost of swarm robots will be significantly increased for large-scale tasks, and the unbalanced task allocation of robots will also lead to a decrease in system efficiency. To address these issues, we propose a dynamic task allocation method of swarm robots based on optimal mass transport theory. The problem of large-scale tasks is solved by grouping swarm robots to complete regional tasks. The task reallocation mechanism realizes the balanced task allocation of individual robots. This paper solves the symmetric assignment between robot and task and between the robot groups and the regional tasks. Our simulation and experimental results demonstrate that the proposed method can make the swarm robots self-organize to allocate large-scale dynamic tasks effectively. The tasks can also be balanced allocated to each robot in the swarm of robots.

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Section: Related Workmentioning

confidence: 99%