Networked architecture for multi-robot task reallocation in dynamic environment

Authors:
Xiangpeng Li;Dong Sun;Jie Yang
Affiliations:
Department of Manufacturing Engineering and Engineering Management, Joint Advanced Research Centre of City University of Hong Kong and University of Science and Technology of China, Suzhou, China;Department of Manufacturing Engineering and Engineering Management, City University of Hong Kong, Kowloon, Hong Kong;Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, China
Venue:
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Year:
2009

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Abstract

Distributed and efficiently allocating tasks to networked robots in dynamic environment pose challenge in both theory and application in robotics. A fundamental issue here is how to reallocate tasks during task execution. In this paper, by integrating a high-level market-based algorithm with a low-level mobile ad-hoc network communication structure, we propose a new cooperation architecture named Market-MANET (M-M) architecture, for networked robot task allocation. Additionally, an adventure mechanism is introduced into the M-M architecture to increase the success probability in accomplishing tasks. The effectiveness of the proposed architecture is verified by simulations of task transportation.