Online computation and competitive analysis
Online computation and competitive analysis
Broadcast of local eligibility: behavior-based control for strongly cooperative robot teams
AGENTS '00 Proceedings of the fourth international conference on Autonomous agents
Analysis of Dynamic Task Allocation in Multi-Robot Systems
International Journal of Robotics Research
Methods for task allocation via agent coalition formation
Artificial Intelligence
Optimized stochastic policies for task allocationin swarms of robots
IEEE Transactions on Robotics
IEEE Transactions on Robotics
International Journal of Robotics Research
COBOS: Cooperative backoff adaptive scheme for multirobot task allocation
IEEE Transactions on Robotics
Multi-robot coalition formation
IEEE Transactions on Robotics
Decentralized task allocation for surveillance systems with critical tasks
Robotics and Autonomous Systems
Weighted synergy graphs for effective team formation with heterogeneous ad hoc agents
Artificial Intelligence
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This paper investigates the multirobot task allocation problem for a group of heterogeneous mobile robots with consideration of resource constraints. The robots and tasks are characterized by resources as required by task execution. Since each individual robot may not have sufficient resources to accomplish the assigned task alone, the robots must form coalitions to meet task-imposed resource constraints in task execution. A leader-follower based coalition methodology is developed in this paper, with detailed discussions on leader selection, preliminary coalition forming, coalition evaluation and submission procedures. When the tasks are assigned online and only one task is assigned at each time, the proposed leader-follower coalition method can maximize coalition utility for every assigned task, which further ensures greedy optimal solution for the resource constrained task allocation problem. Simulations and experiments performed on a group of mobile robots demonstrate the effectiveness of the proposed approach.