Title :
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
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;
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
DOI :
10.1109/ICARCV.2006.345140
