Distributed task-allocation Multi-agent systems Vehicle routing
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.
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.
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/.
Q.Meng was supported by EPSRC (grant number EP/J011525/1) with BAE Systems as the leading industrial partner.