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Multi-Robot Coalitions Formation with Deadlines: Complexity Analysis and Solutions.

Authors :
Guerrero, Jose
Oliver, Gabriel
Valero, Oscar
Source :
PLoS ONE; 1/24/2017, Vol. 12 Issue 1, p1-26, 26p
Publication Year :
2017

Abstract

Multi-robot task allocation is one of the main problems to address in order to design a multi-robot system, very especially when robots form coalitions that must carry out tasks before a deadline. A lot of factors affect the performance of these systems and among them, this paper is focused on the physical interference effect, produced when two or more robots want to access the same point simultaneously. To our best knowledge, this paper presents the first formal description of multi-robot task allocation that includes a model of interference. Thanks to this description, the complexity of the allocation problem is analyzed. Moreover, the main contribution of this paper is to provide the conditions under which the optimal solution of the aforementioned allocation problem can be obtained solving an integer linear problem. The optimal results are compared to previous allocation algorithms already proposed by the first two authors of this paper and with a new method proposed in this paper. The results obtained show how the new task allocation algorithms reach up more than an 80% of the median of the optimal solution, outperforming previous auction algorithms with a huge reduction of the execution time. [ABSTRACT FROM AUTHOR]

Details

Language :
English
ISSN :
19326203
Volume :
12
Issue :
1
Database :
Complementary Index
Journal :
PLoS ONE
Publication Type :
Academic Journal
Accession number :
120932649
Full Text :
https://doi.org/10.1371/journal.pone.0170659