Market-based dynamic task allocation using heuristically accelerated reinforcement learning

Authors:
José Angelo Gurzoni, Jr.;Flavio Tonidandel;Reinaldo A. C. Bianchi
Affiliations:
Department of Electrical Engineering, Centro Universitário da FEI, Brazil;Department of Electrical Engineering, Centro Universitário da FEI, Brazil;Department of Electrical Engineering, Centro Universitário da FEI, Brazil
Venue:
EPIA'11 Proceedings of the 15th Portugese conference on Progress in artificial intelligence
Year:
2011

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Abstract

This paper presents a Multi-Robot Task Allocation (MRTA) system, implemented on a RoboCup Small Size League team, where robots participate of auctions for the available roles, such as attacker or defender, and use Heuristically Accelerated Reinforcement Learning to evaluate their aptitude to perform these roles, given the situation of the team, in real-time. The performance of the task allocation mechanism is evaluated and compared in different implementation variants, and results show that the proposed MRTA system significantly increases the team performance, when compared to pre-programmed team behavior algorithms.