Distributed and Dynamic Task Reallocations in Robot Organization

Wei-Min Shen and Behnam Salemi. Distributed and Dynamic Task Reallocations in Robot Organization. In Proc. 2002 IEEE Intl. Conf. on Robotics and Automation, pp. 1019–1024, Washington, DC, May 2002.

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Abstract

Task reallocation in a multi-robot organization is a process that distributes a decomposed global task to individual robots. This process must be distributed and dynamic because it relies on critical information that can only be obtained during mission execution. The paper presents a representation for this challenging problem and proposes an algorithm that allows member robots to trade tasks and responsibilities autonomously. Preliminary results show that such an algorithm can indeed improve the efficiency of organizational performance and construct a locally optimal (hill climbing) task allocation during mission execution.

BibTeX Entry

@InProceedings{	  shen2002distributed-and-dynamic-task-reallocations,
  abstract	= {Task reallocation in a multi-robot organization is a
		  process that distributes a decomposed global task to
		  individual robots. This process must be distributed and
		  dynamic because it relies on critical information that can
		  only be obtained during mission execution. The paper
		  presents a representation for this challenging problem and
		  proposes an algorithm that allows member robots to trade
		  tasks and responsibilities autonomously. Preliminary
		  results show that such an algorithm can indeed improve the
		  efficiency of organizational performance and construct a
		  locally optimal (hill climbing) task allocation during
		  mission execution.},
  address	= {Washington, DC},
  author	= {Wei-Min Shen and Behnam Salemi},
  booktitle	= icra-02,
  month		= may,
  pages		= {1019--1024},
  title		= {Distributed and Dynamic Task Reallocations in Robot
		  Organization},
  year		= {2002}
}