Multi-agent approach for task allocation and scheduling in cooperative heterogeneous multi-robot team: Simulation results

The paper presents a new approach for robots tasks allocation and scheduling in order to minimize the total execution time (makespan) of a mission while satisfying all the tasks constraints. This approach is implemented in a multi-agent architecture for remote control of heterogeneous multi-robot sy...

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Bibliographic Details
Main Authors: Maoudj, A., Bouzouia, B., Hentout, A., Toumi, R.
Format: Conference Proceeding
Language:English
Subjects:
Contract-net protocol
Multi-agent systems
Multi-robot system
Negotiation
Tasks allocation
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Summary:The paper presents a new approach for robots tasks allocation and scheduling in order to minimize the total execution time (makespan) of a mission while satisfying all the tasks constraints. This approach is implemented in a multi-agent architecture for remote control of heterogeneous multi-robot systems. The agents controlling the robots coordinate their actions and cooperate to achieve the assigned mission. The proposed approach is carried out in two phases. During the first phase, a negotiation process (based on the Contract-net protocol) is carried out between the agents of the system to allocate the tasks to the robot proposing the minimal execution time (cost). In the second phase, a local scheduling process based on priority rules is carried out by the corresponding agent for each allocated task in order to minimize its inoccupation (idle) time.
ISSN:1935-4576
2378-363X
DOI:10.1109/INDIN.2015.7281731