Dynamic Task Allocation in Cooperative Robot Teams

Dynamic task allocation in cooperative robot teams

In this paper a dynamic task allocation and controller design methodology for cooperative robot teams is presented. Fuzzy logic based utility functions are derived to quantify each robot’s ability to perform a task. These utility functions are used to allocate tasks in real-time through a limited lookahead control methodology partially based on the basic principles of discrete event supervisory...

Cooperative Real-Time Search and Task Allocation in UAV Teams

In this paper, we consider a heterogeneous team of UAVs drawn from several distinct classes and engaged in a search and destroy mission over an extended battlefield. Several different types of targets are considered. Some target locations are suspected a priori with a certain probability, while the others are initially unknown. During the mission, the UAVs perform Search, Confirm, Attack and Ba...

Auction-Based Task Allocation for Multi-robot Teams in Dynamic Environments

There has been much research on the use of auction-based methods to provide a distributed approach to task allocation for robot teams. Team members bid on tasks based on their locations, and the allocation is based on these bids. The focus of prior work has been on the optimality of the allocation, establishing that auction-based methods perform well in comparison with optimal allocation method...

Cooperative Robot Teams Applied to the Site Preparation Task

Affective Task Allocation for Distributed Multi-Robot Teams

This article presents a novel emotion-based recruitment approach to the multi-robot task allocation problem. This approach requires less communication bandwidth than auction methods, enabling it to scale to large team sizes, and making it appropriate for low-power or stealth applications. Affective recruitment is tolerant of unreliable communications channels, and can find better solutions than...