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Title: Distributed task rescheduling with time constraints for the optimisation of total task allocations in a multi-robot system
Authors: Turner, Joanna
Meng, Qinggang
Schaefer, Gerald
Whitbrook, Amanda
Soltoggio, Andrea
Keywords: Distributed task-allocation
Multi-agent systems
Vehicle routing
Issue Date: 2017
Publisher: IEEE
Citation: TURNER, J. ... et al, 2017. Distributed task rescheduling with time constraints for the optimisation of total task allocations in a multi-robot system. IEEE Transactions on Cybernetics, doi: 10.1109/TCYB.2017.2743164.
Abstract: This paper considers the problem of maximising the number of task allocations in a distributed multi-robot system under strict time constraints, where other optimisation objectives need also be considered. This study builds upon existing distributed task allocation algorithms, extending them with a novel method for maximising the number of task assignments. The fundamental idea is that a task assignment to a robot has a high cost if its reassignment to another robot creates a feasible time slot for unallocated tasks. Multiple reassignments among networked robots may be required to create a feasible time slot and an upper limit to this number of reassignments can be adjusted according to performance requirements. A simulated rescue scenario with task deadlines and fuel limits is used to demonstrate the performance of the proposed method compared with existing methods, the Consensus-Based Bundle Algorithm (CBBA) and the Performance Impact algorithm (PI). Starting from existing (PI-generated) solutions, results show an up to 20% increase in task allocations using the proposed method.
Description: This is an Open Access Article. It is published by IEEE under the Creative Commons Attribution 3.0 Licence (CC BY). Full details of this licence are available at: http://creativecommons.org/licenses/by/3.0/.
Sponsor: Q.Meng was supported by EPSRC (grant number EP/J011525/1) with BAE Systems as the leading industrial partner.
Version: Published
DOI: 10.1109/TCYB.2017.2743164
URI: https://dspace.lboro.ac.uk/2134/26419
Publisher Link: https://doi.org/10.1109/TCYB.2017.2743164
ISSN: 2168-2275
Appears in Collections:Published Articles (Computer Science)

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