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Robotics 2015, 4(3), 316-340; doi:10.3390/robotics4030316

A Spatial Queuing-Based Algorithm for Multi-Robot Task Allocation

1
Computer Science Department, University of Nebraska, Omaha, NE 68182, USA
2
Computer Science Department, Instituto Nacional de Astrofisica, Optica y Electronica, Tonantzintla, Pue. 72840 Mexico
*
Author to whom correspondence should be addressed.
Academic Editor: Huosheng Hu
Received: 13 May 2015 / Revised: 30 July 2015 / Accepted: 21 August 2015 / Published: 28 August 2015
(This article belongs to the Special Issue Coordination of Robotic Systems)
View Full-Text   |   Download PDF [967 KB, uploaded 31 August 2015]   |  

Abstract

Multi-robot task allocation (MRTA) is an important area of research in autonomous multi-robot systems. The main problem in MRTA is to allocate a set of tasks to a set of robots so that the tasks can be completed by the robots while ensuring that a certain metric, such as the time required to complete all tasks, or the distance traveled, or the energy expended by the robots is reduced. We consider a scenario where tasks can appear dynamically and a task needs to be performed by multiple robots to be completed. We propose a new algorithm called SQ-MRTA (Spatial Queueing-MRTA) that uses a spatial queue-based model to allocate tasks between robots in a distributed manner. We have implemented the SQ-MRTA algorithm on accurately simulated models of Corobot robots within the Webots simulator for different numbers of robots and tasks and compared its performance with other state-of-the-art MRTA algorithms. Our results show that the SQ-MRTA algorithm is able to scale up with the number of tasks and robots in the environment, and it either outperforms or performs comparably with respect to other distributed MRTA algorithms. View Full-Text
Keywords: multi-robot systems; task allocation; spatial queueing multi-robot systems; task allocation; spatial queueing
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

Lenagh, W.; Dasgupta, P.; Munoz-Melendez, A. A Spatial Queuing-Based Algorithm for Multi-Robot Task Allocation. Robotics 2015, 4, 316-340.

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