A Novel Multi-robot Task Allocation Algorithm under Heterogeneous Capabilities Condition

With the continued development of robotics, robots can perform more and more complex multi-robot tasks. The subtasks decomposed by multi-robot task may be different significantly, and member robots in system may be varying on capability models. It is a challenge to most of task allocation algorithms...

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Veröffentlicht in:	Information Technology Journal 2014, Vol.13 (8), p.1514-1522
Hauptverfasser:	Quande, Yuan, Bingrong, Hong, Yi, Guan, Songhao, Piao, Zesu, Cai
Format:	Artikel
Sprache:	eng
Schlagworte:	Algorithms Allocations Heterogeneity Multiple robots Pruning Robots Strategy Tasks
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creator	Quande, Yuan Bingrong, Hong Yi, Guan Songhao, Piao Zesu, Cai
description	With the continued development of robotics, robots can perform more and more complex multi-robot tasks. The subtasks decomposed by multi-robot task may be different significantly, and member robots in system may be varying on capability models. It is a challenge to most of task allocation algorithms in this context. This article studied ST-MR-IA task allocation algorithm under heterogeneous capabilities condition. The authors' give the concept of capability heterogeneity; provide a multi-robot task allocation algorithm, whose complexity being simplified by distributed computing and pruning strategy. The effectiveness of this new algorithm is verified in practice.
doi_str_mv	10.3923/itj.2014.1514.1522
format	Article
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subjects	Algorithms Allocations Heterogeneity Multiple robots Pruning Robots Strategy Tasks
title	A Novel Multi-robot Task Allocation Algorithm under Heterogeneous Capabilities Condition
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