Multi-robot task allocation for performing cooperative foraging tasks in an initially unknown environment

Research output: Chapter in Book/Report/Conference proceedingChapter

28 Scopus citations

Abstract

We consider the problem of multi-robot task allocation (MRTA) by a set of robots that are deployed in an initially unknown environment to perform foraging tasks. The location of each task has to be discovered by each robot through searching in the environment. Each task also requires multiple robots to share the task's execution to complete the task. We discuss an emergent, distributed MRTA algorithm and describe a set of heuristics that can be used by the MRTA algorithm to select the order of the tasks so that the tasks are performed in an efficient manner. The heuristics are evaluated using simulated robots on the Webots simulator to analyze their relative performance.

Original languageEnglish (US)
Title of host publicationInnovations in Defence Support Systems -2
Subtitle of host publicationSocio-Technical Systems
EditorsLakhmi Jain, Eugene Aidman, Eugene Aidman, Canicious Abeynayake
Pages5-20
Number of pages16
DOIs
StatePublished - 2011

Publication series

NameStudies in Computational Intelligence
Volume338
ISSN (Print)1860-949X

ASJC Scopus subject areas

  • Artificial Intelligence

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    Dasgupta, P. (2011). Multi-robot task allocation for performing cooperative foraging tasks in an initially unknown environment. In L. Jain, E. Aidman, E. Aidman, & C. Abeynayake (Eds.), Innovations in Defence Support Systems -2: Socio-Technical Systems (pp. 5-20). (Studies in Computational Intelligence; Vol. 338). https://doi.org/10.1007/978-3-642-17764-4_2