European Workshop on Advanced Control and Diagnosis | |
Multi-robot Task Allocation for Search and Rescue Missions | |
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 |
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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.
【 预 览 】
Files | Size | Format | View |
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Multi-robot Task Allocation for Search and Rescue Missions | 1672KB | download |