Multi-robot Task Allocation for Search and Rescue Missions

European Workshop on Advanced Control and Diagnosis

Hussein, Ahmed^1 ; Adel, Mohamed^2 ; Bakr, Mohamed^2 ; Shehata, Omar M.^2 ; Khamis, Alaa^3

Intelligent Systems Lab (LSI) Research Group, Universidad Carlos III de Madrid (UC3M), Av. de la Universidad 30, Madrid

28911, Spain^1

Robotics and Autonomous Systems (RAS) Research Group, German University in Cairo (GUC), 5th settlement-New Cairo, Cairo

11432, Egypt^2

Engineering Science Department, Suez University, Egypt and Vestec. Inc., 125 Northfield Drive West, Waterloo

N2L 6N8, Canada^3

关键词: Complex problems;    Generic market;    Group formations;    Multi-robot systems;    Multi-robot task allocation;    Search and rescue;    Self organizations;    Task allocation;   

Others  :  https://iopscience.iop.org/article/10.1088/1742-6596/570/5/052006/pdf
DOI  :  10.1088/1742-6596/570/5/052006

来源: IOP

【 摘 要 】

Many researchers from academia and industry are attracted to investigate how to design and develop robust versatile multi-robot systems by solving a number of challenging and complex problems such as task allocation, group formation, self-organization and much more. In this study, the problem of multi-robot task allocation (MRTA) is tackled. MRTA is the problem of optimally allocating a set of tasks to a group of robots to optimize the overall system performance while being subjected to a set of constraints. A generic market-based approach is proposed in this paper to solve this problem. The efficacy of the proposed approach is quantitatively evaluated through simulation and real experimentation using heterogeneous Khepera-III mobile robots. The results from both simulation and experimentation indicate the high performance of the proposed algorithms and their applicability in search and rescue missions.