Multi-objective Optimisation of Multi-robot Task Allocation with Precedence Constraints

Abstract

Efficacy of the multi-robot systems depends on proper sequencing and optimal allocation of robots to the tasks. Focuses on deciding the optimal allocation of set-of-robots to a set-of-tasks with precedence constraints considering multiple objectives. Taguchi’s design of experiments based parameter tuned genetic algorithm (GA) is developed for generalised task allocation of single-task robots to multi-robot tasks. The developed methodology is tested for 16 scenarios by varying the number of robots and number of tasks. The scenarios were tested in a simulated environment with a maximum of 20 robots and 40 multi-robot foraging tasks. The tradeoff between performance measures for the allocations obtained through GA for different task levels was used to decide the optimal number of robots. It is evident that the tradeoffs occur at 20 per cent of performance measures and the optimal number of robot varies between 10 and 15 for almost all the task levels. This method shows good convergence and found that the precedence constraints affect the optimal number of robots required for a particular task level.

Construction of a Dynamic Diagnostic Approach for a Fuzzy-Interval Petri Network

“…The following Table 1 lists the parameter tolerances [20]. Target final product C: concentrate of product.…”

Review on state-of-the-art dynamic task allocation strategies for multiple-robot systems

“…Few researchers considered integer programming (Li and Li, 2017;Su et al, 2018;Zhou et al, 2019) and various search algorithms (Zhao et al, 2015;Kartal et al, 2016;Mitiche et al, 2019). Many researchers used metaheuristic algorithms (Liu and Kroll, 2012;Alshawi and Shalan, 2017;Li et al, 2017b, Z. Zhu et al, 2017Arif and Haider, 2018;Chen et al, 2018b, Padmanabhan Panchu et al, 2018Wang et al, 2018;Zhou et al, 2019) to solve this optimization problem, and this could be because of the ease of implementation of such algorithms.…”

Adaptive auction protocol for task assignment in wireless sensor and actuator networks

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