Matrix analysis
SIAM Review
Methods for task allocation via agent coalition formation
Artificial Intelligence
Emergent cooperative goal-satisfaction in large-scale automated-agent systems
Artificial Intelligence
Proceedings of the first international joint conference on Autonomous agents and multiagent systems: part 3
A Guide to Monte Carlo Simulations in Statistical Physics
A Guide to Monte Carlo Simulations in Statistical Physics
Analysis of Dynamic Task Allocation in Multi-Robot Systems
International Journal of Robotics Research
Division of labor in a group of robots inspired by ants' foraging behavior
ACM Transactions on Autonomous and Adaptive Systems (TAAS)
Coalition Formation: From Software Agents to Robots
Journal of Intelligent and Robotic Systems
Algorithms for the analysis and synthesis of a bio-inspired swarm robotic system
SAB'06 Proceedings of the 2nd international conference on Swarm robotics
Multi-robot coalition formation
IEEE Transactions on Robotics
Abstractions and algorithms for assembly tasks with large numbers of robots and parts
CASE'09 Proceedings of the fifth annual IEEE international conference on Automation science and engineering
Stochastic strategies for a swarm robotic assembly system
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Macroscopic modeling of stochastic deployment policies with time delays for robot ensembles
International Journal of Robotics Research
A compositional framework for programming stochastically interacting robots
International Journal of Robotics Research
Resource constrained multirobot task allocation based on leader-follower coalition methodology
International Journal of Robotics Research
Property-driven design for swarm robotics
Proceedings of the 11th International Conference on Autonomous Agents and Multiagent Systems - Volume 1
A survey of swarm robotics system
ICSI'12 Proceedings of the Third international conference on Advances in Swarm Intelligence - Volume Part I
Broadcast control of multi-agent systems
Automatica (Journal of IFAC)
Stochastic activity authoring with direct user control
Proceedings of the 18th meeting of the ACM SIGGRAPH Symposium on Interactive 3D Graphics and Games
Self-organized task allocation to sequentially interdependent tasks in swarm robotics
Autonomous Agents and Multi-Agent Systems
Journal of Intelligent and Robotic Systems
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We present a scalable approach to dynamically allocating a swarm of homogeneous robots to multiple tasks, which are to be performed in parallel, following a desired distribution. We employ a decentralized strategy that requires no communication among robots. It is based on the development of a continuous abstraction of the swarm obtained by modeling population fractions and defining the task allocation problem as the selection of rates of robot ingress and egress to and from each task. These rates are used to determine probabilities that define stochastic control policies for individual robots, which, in turn, produce the desired collective behavior. We address the problem of computing rates to achieve fast redistribution of the swarm subject to constraint(s) on switching between tasks at equilibrium. We present several formulations of this optimization problem that vary in the precedence constraints between tasks and in their dependence on the initial robot distribution. We use each formulation to optimize the rates for a scenario with four tasks and compare the resulting control policies using a simulation in which 250 robots redistribute themselves among four buildings to survey the perimeters.