Cooperative Mobile Robotics: Antecedents and Directions
Autonomous Robots
Principled Communication for Dynamic Multi-robot Task Allocation
ISER '00 Experimental Robotics VII
Interaction and Intelligent Behavior
Interaction and Intelligent Behavior
Modeling adaptive autonomous agents
Artificial Life
Coordinating multiple rovers with interdependent science objectives
Proceedings of the fourth international joint conference on Autonomous agents and multiagent systems
Multiple UAV task allocation using negotiation
AAMAS '06 Proceedings of the fifth international joint conference on Autonomous agents and multiagent systems
Learning and exploiting knowledge in multi-agent task allocation problems
Proceedings of the 9th annual conference companion on Genetic and evolutionary computation
Multi-agent task allocation: learning when to say no
Proceedings of the 10th annual conference on Genetic and evolutionary computation
Multi-agent robot systems as distributed autonomous systems
Advanced Engineering Informatics
Multi-agent systems in control engineering: a survey
Journal of Control Science and Engineering
Topology-aware optimal task allocation for publish/subscribe-based mission critical environment
MILCOM'09 Proceedings of the 28th IEEE conference on Military communications
Resource allocation strategies for a multi sensor surveillance
CTS'05 Proceedings of the 2005 international conference on Collaborative technologies and systems
Expert Systems with Applications: An International Journal
Designing the HRTeam framework: lessons learned from a rough-and-ready human/multi-robot team
AAMAS'11 Proceedings of the 10th international conference on Advanced Agent Technology
Priority based multi robot task assignment
ICSI'12 Proceedings of the Third international conference on Advances in Swarm Intelligence - Volume Part I
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Multiple cooperating robots hold the promise of improved performance and increased fault tolerance for large-scale problems such as planetary survey and habitat construction. Multi-robot coordination, however, is a complex problem. We cast this problem in the framework of multi-robot dynamic task allocation under uncertainty. We then describe an empirical study that sought general guidelines for task allocation strategies in multi-robot systems. We identify four distinct task allocation strategies, and demonstrate them in two versions of the multi-robot emergency handling task. We describe an experimental setup to compare results obtained from a simulated grid world to those obtained from physical mobile robot experiments. Data resulting from eight hours of experiments with multiple mobile robots are compared to the trend identified in simulation. The data from the simulations show that there is no single strategy that produces best performance in all cases, and that the best task allocation strategy changes as a function of the noise in the system. This result is significant, and shows the need for further investigation of task allocation strategies and their application to planetary exploration.