Multi-robot Task Allocation for Search and Rescue Missions

Many researchers from academia and industry are attracted to investigate how to design and develop robust versatile multi-robot systems by solving a number of challenging and complex problems such as task allocation, group formation, self-organization and much more. In this study, the problem of mul...

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Bibliographic Details
Published in:Journal of physics. Conference series 2014-12, Vol.570 (5), p.52006
Main Authors: Hussein, Ahmed, Adel, Mohamed, Bakr, Mohamed, Shehata, Omar M, Khamis, Alaa
Format: Article
Language:English
Subjects:
Algorithms
Evacuations & rescues
Experimentation
Multiple robots
Optimization
Physics
Robots
Search and rescue missions
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Summary:Many researchers from academia and industry are attracted to investigate how to design and develop robust versatile multi-robot systems by solving a number of challenging and complex problems such as task allocation, group formation, self-organization and much more. In this study, the problem of multi-robot task allocation (MRTA) is tackled. MRTA is the problem of optimally allocating a set of tasks to a group of robots to optimize the overall system performance while being subjected to a set of constraints. A generic market-based approach is proposed in this paper to solve this problem. The efficacy of the proposed approach is quantitatively evaluated through simulation and real experimentation using heterogeneous Khepera-III mobile robots. The results from both simulation and experimentation indicate the high performance of the proposed algorithms and their applicability in search and rescue missions.
ISSN:1742-6588
1742-6596
DOI:10.1088/1742-6596/570/5/052006