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

Download (40.81 kB)
dataset
posted on 23.03.2018, 09:10 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.

Funding

EPSRC: EP/J011525/1

History

Licence

Exports