Turner2017_FinalSupplementTable.pdf (40.81 kB)

Supplementary files for article Distributed Task Rescheduling With Time Constraints for the Optimization of Total Task Allocations in a Multirobot System

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posted on 23.03.2018 by Joanna Turner, Qinggang Meng, Gerald Schaefer, Amanda Whitbrook, Andrea Soltoggio

Supplementary files for article Distributed Task Rescheduling With Time Constraints for the Optimization of Total Task Allocations in a Multirobot System


Abstract:
This paper considers the problem of maximizing the number of task allocations in a distributed multirobot system under strict time constraints, where other optimization objectives need also be considered. It builds upon existing distributed task allocation algorithms, extending them with a novel method for maximizing the number of task assignments. The fundamental idea is that a task assignment to a robot has a high cost if its reassignment to another robot creates a feasible time slot for unallocated tasks. Multiple reassignments among networked robots may be required to create a feasible time slot and an upper limit to this number of reassignments can be adjusted according to performance requirements. A simulated rescue scenario with task deadlines and fuel limits is used to demonstrate the performance of the proposed method compared with existing methods, the consensus-based bundle algorithm and the performance impact (PI) algorithm. Starting from existing (PI-generated) solutions, results show up to a 20% increase in task allocations using the proposed method.

DESCRIPTION: The supplementary table compares the performance of different task allocation algorithms.

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EPSRC: EP/J011525/1

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