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Development and Simulation of a Task Assignment Model for Multirobot Systems
B.B.Biswal, B.B.Choudhury
Pages - 12 - 23     |    Revised - 15-08-2007     |    Published - 30-08-2007
Volume - 1   Issue - 2    |    Publication Date - August 2007  Table of Contents
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KEYWORDS
Multirobot, task allocation, allocation strategies, auction algorithms
ABSTRACT
Multirobot systems (MRS) hold the promise of improved performance and increased fault tolerance for large-scale problems. A robot team can accomplish a given task more quickly than a single agent by executing them concurrently. A team can also make effective use of specialists designed for a single purpose rather than requiring that a single robot be a generalist. Multirobot coordination, however, is a complex problem. An empirical study is described in the present paper that sought general guidelines for task allocation strategies. Different task allocation strategies are identified, and demonstrated in the multi-robot environment. A simulation study of the methodology is carried out in a simulated grid world. The results show that there is no single strategy that produces best performance in all cases, and that the best task allocation strategy changes as a function of the noise in the system. This result is significant, and shows the need for further investigation of task allocation strategies.
CITED BY (1)  
1 Burger, M. (2012). Mechanisms for Task Allocation in Swarm Robotics (Doctoral dissertation, Diploma thesis, Ludwig-Maximilians-Universität München).
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Mr. B.B.Biswal
- India
bbbiswal@nitrkl.ac.in
Mr. B.B.Choudhury
- India