COBOS: Cooperative backoff adaptive scheme for multirobot task allocation
Authors:
- 5 December 2005
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Robotics
- Vol. 21 (6) , 1168-1178
Abstract
In this paper, the cooperative backoff adaptive scheme (COBOS) is proposed for task allocation amongst a team of heterogeneous robots. The COBOS operates in regions with limited communication ranges, and is robust against robot malfunctions and uncertain task specifications, with each task potentially requiring multiple robots. The portability of tasks across teams (or when team demography changes) is improved by specifying tasks using basis tasks in a matrix framework. The adaptive feature of COBOS further increases the flexibility of robot teams, allowing robots to adjust their actions based on past experience. In addition, we study the properties of COBOS: operation domain; communication requirements; computational complexity; and solution quality; and compare the scheme with other task-allocation mechanisms. Realistic simulations are carried out to verify the effectiveness of the proposed scheme.Keywords
This publication has 13 references indexed in Scilit:
- Complex Task Allocation For Multiple Robots2006
- Queues and artificial potential trenches for multirobot formationsIEEE Transactions on Robotics, 2005
- Robust multirobot coordination in dynamic environments2004
- M+: a scheme for multi-robot cooperation through negotiated task allocation and achievement2003
- Cooperative transport by multiple mobile robots in unknown static environments associated with real-time task assignmentIEEE Transactions on Robotics and Automation, 2002
- Sold!: auction methods for multirobot coordinationIEEE Transactions on Robotics and Automation, 2002
- Broadcast of Local Eligibility for Multi-Target Observation2000
- Methods for task allocation via agent coalition formationArtificial Intelligence, 1998
- L-ALLIANCE: Task-oriented multi-robot learning in behavior-based systemsAdvanced Robotics, 1996
- Interprocess communication for distributed roboticsIEEE Journal on Robotics and Automation, 1987