Please use this identifier to cite or link to this item:
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 methodologies for multi-robot systems by considering their capability in terms of time and space.
Description: Copyright for the paper belongs to proceedings publisher
Appears in Collections:Conference Papers

Files in This Item:
File Description SizeFormat 
bbb-chikhli-2008.pdf120.84 kBAdobe PDFView/Open

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.