An Autonomous Task Allocation Method Of The Multi-Robot System

Author

Ding, Yingying ; Zhu, Miaoliang ; He, Yan ; JIANG, JingPing

Author_Institution

Coll. of Comput. Sci., Zhejiang Univ., Hangzhou

fYear

2006

fDate

5-8 Dec. 2006

Firstpage

1

Lastpage

6

Abstract

To enable the multi-robot system allocating tasks automatically is very important in improving the adaptation of the system. In this paper, a task allocation method based on personality is designed and a persistent factor, as one aspect of personality of the robot is introduced; the pheromone follow phenomenon of the ant algorithm is used to realize cooperation. Box pushing problem is used to test the performance of the algorithm. A phenomenon called task deadlock is defined and discussed in the paper. The persistent factor is used to solve the task deadlock problem

Keywords

multi-robot systems; optimisation; ant colony optimization; autonomous task allocation; box pushing problem; multirobot system; task deadlock problem; Algorithm design and analysis; Computer architecture; Computer science; Educational institutions; Insects; Intelligent robots; Multirobot systems; Robotics and automation; System recovery; Testing; ant colony optimization(ACO); multi-robot system; persistent factor; task allocation; task deadlock;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation, Robotics and Vision, 2006. ICARCV '06. 9th International Conference on

Conference_Location

Singapore

Print_ISBN

1-4244-0341-3

Electronic_ISBN

1-4214-042-1

Type

conf

DOI

10.1109/ICARCV.2006.345140

Filename

4150050