TY - GEN
T1 - Decentralized Dynamic Task Allocation in Swarm Robotic Systems for Disaster Response
T2 - 2nd International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2019
AU - Ghassemi, Payam
AU - Depauw, David
AU - Chowdhury, Souma
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/8
Y1 - 2019/8
N2 - Multiple robotic systems, working together, can provide important solutions to different real-world applications (e.g., disaster response), among which task allocation problems feature prominently. Very few existing decentralized multi-robotic task allocation (MRTA) methods simultaneously offer the following capabilities: Consideration of task deadlines, consideration of robot range and task completion capacity limitations, and allowing asynchronous decision-making under dynamic task spaces. To provision these capabilities, this paper presents a computationally efficient algorithm that involves novel construction and matching of bipartite graphs. Its performance is tested on a multi-UAV flood response application.
AB - Multiple robotic systems, working together, can provide important solutions to different real-world applications (e.g., disaster response), among which task allocation problems feature prominently. Very few existing decentralized multi-robotic task allocation (MRTA) methods simultaneously offer the following capabilities: Consideration of task deadlines, consideration of robot range and task completion capacity limitations, and allowing asynchronous decision-making under dynamic task spaces. To provision these capabilities, this paper presents a computationally efficient algorithm that involves novel construction and matching of bipartite graphs. Its performance is tested on a multi-UAV flood response application.
KW - Multi-robotic task allocation
KW - flood response
KW - unmanned aerial vehicles
UR - https://www.scopus.com/pages/publications/85075637966
U2 - 10.1109/MRS.2019.8901062
DO - 10.1109/MRS.2019.8901062
M3 - Conference contribution
AN - SCOPUS:85075637966
T3 - International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2019
SP - 83
EP - 85
BT - International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2019
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 22 August 2019 through 23 August 2019
ER -