Multi-robot Exploration and Mapping Using Self Biddings

Elizondo-Leal, Juan Carlos; Torres, Gabriel Ramírez; Toscano-Pulido, Gregorio

doi:10.1007/978-3-540-88309-8_40

Cited by 1 publication

(3 citation statements)

References 9 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Otherwise, it either waits for a new task that it is capable of fulfilling with its residual resources or goes to a refill station. The RCG algorithm, on the other hand, solves the problem by taking into account robot resources in task planning such that the robot generates the cost for the plan that satisfies the resource constraint in (2). As a result, any robot can participate in the task allocation process regardless of its resource levels.…”

Section: A Resource-aware Mrta Problemsmentioning

confidence: 99%

“…The numbers in the nodes are the robot IDs, and the pair next to each node is the ID and the cost of the winner information of the node. For example, (1,10) in (a) represents that robot 1 currently regards itself as the winner, and its cost is 10. lower costs than robot 1, each considers itself as the winner, and thus, robots 2 and 3 broadcast (2,8) and (3,7), respectively. Since robot 3 has lower cost than robots 1 and 2, robot 1 updates its pair from (1,10) to (3,7) after receiving the messages from robots 2 and 3, as shown in Fig.…”

Section: B Illustrative Examplementioning

confidence: 99%

“…These application domains include exploration [2], [3], vehicle formation control [4]- [6], cooperative surveillance [7], and target tracking [8]. The multirobot task allocation (MRTA) problem is one of the important research areas in multirobot systems.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Ad Hoc Network-Based Task Allocation With Resource-Aware Cost Generation for Multirobot Systems

Lee

Zaheer

Kim

2014

IEEE Trans. Ind. Electron.

View full text Add to dashboard Cite

The objective of multirobot task allocation (MRTA) is to assign tasks to robots to minimize the overall cost of task performance. This paper proposes a decentralized MRTA approach considering the robots' residual expendable resources and their limited communication ranges. The proposed approach consists of two algorithms, namely, resource-aware cost generation (RCG) and ad hoc network-based task allocation (ANTA). The RCG algorithm allows each robot to generate a credible cost of task performance considering its residual resources in task planning. The ANTA algorithm constructs the minimal spanning tree network among the robots and determines the robot with the lowest cost for the task through multihop communication in a decentralized manner. The advantages of the proposed approach are minimization of unnecessary task performance cost caused by resource shortage of robots during task execution and the use of an ad hoc network among the robots to allow more robots to participate in the task allocation process. The effectiveness of the proposed approach is demonstrated through computer simulations for multirobot foraging as a test problem.Index Terms-Ad hoc network-based task allocation (ANTA), decentralized task allocation, multirobot systems, resource-aware cost generation (RCG).

show abstract

Section: A Resource-aware Mrta Problemsmentioning

confidence: 99%