Using a sensor network for distributed multi-robot task allocation

We present a multi field distributed in-network task allocation (DINTA-MF) algorithm for online multi-robot task allocation (OMRTA) where tasks are allocated explicitly to robots by a pre-deployed, static sensor network. The idea of DINTA-MF is to compute several assignment fields in the sensor netw...

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Bibliographic Details
Main Authors: Batalin, M.A., Sukhatme, G.S.
Format: Conference Proceeding
Language:English
Subjects:
Applied sciences
Computer networks
Computer science
Computer science
control theory
systems
Computer systems and distributed systems. User interface
Control theory. Systems
Distributed computing
Embedded system
Exact sciences and technology
Laboratories
Mobile robots
Navigation
Robot sensing systems
Robotics
Sensor systems
Software
Wireless sensor networks
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Description
Summary:We present a multi field distributed in-network task allocation (DINTA-MF) algorithm for online multi-robot task allocation (OMRTA) where tasks are allocated explicitly to robots by a pre-deployed, static sensor network. The idea of DINTA-MF is to compute several assignment fields in the sensor network and then distributively assign fields to different robots. Experimental results with a simulated alarm scenario show that our approach is able to compute solutions to the OMRTA problem in a distributed fashion and arguably in an optimal way. We compared DINTA-MF with a simpler implementation (DINTA), which uses one assignment field. The data show that DINTA-MF outperforms DINTA as the number of robots increases.
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2004.1307145