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http://hdl.handle.net/2080/693
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| Title: | Optimal Task Allocation in a Multirobot Environment Using Capability Indices |
| Authors: | Choudhury, B B
Biswal, B B |
| Keywords: | Allocation model
assignment heuristic
allocation cost
load deviation ratio
multi robot
Task allocation |
| Issue Date: | 2008 |
| Citation: | Proceedings of the 1st International Conference on Advances in Computing, Chikhli, India, 21-22 February 2008 |
| Abstract: | Multirobot systems (MRS) hold the promise of improved
performance and increased fault tolerance for large-scale
problems. Multirobot coordination, however, is a complex
problem. One of the most important aspects in the design of multirobot
systems is the allocation of tasks among the robots in a
productive and efficient manner. An empirical study is described
in the present paper for task allocation strategies. In general,
optimal solutions can be found through an exhaustive search, but
because there are e n ×m ways in which m tasks can be assigned
to n robots, an exhaustive search is often not possible. Task
allocation methodologies must ensure that not only the global
mission is achieved, but also the tasks are well distributed among
the robots. An effective task allocation approach considers the
available resources, the capabilities of the deployable robots, and
then it appropriately allocates the tasks the candidate robots. This
paper presents such task allocation me... |
| Description: | Copyright for the paper belongs to proceedings publisher |
| URI: | http://hdl.handle.net/2080/693 |
| Appears in Collections: | Conference Papers
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Size | Format |
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| bbb-chikhli-2008.pdf | | 120Kb | Adobe PDF | View/Open |
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