Multi-robot task-allocation through vacancy chains
نویسندگان
چکیده
This paper presents an algorithm for task allocation in groups of homogeneous robots. The algorithm is based on vacancy chains, a resource distribution strategy common in human and animal societies. We define a class of task-allocation problems for which the vacancy chain algorithm is suitable and demonstrate how Reinforcement Learning can be used to make vacancy chains emerge in a group of Behavior-Based robots. Experiments in simulation show that the vacancy chain algorithm consistently outperforms random and static task allocation algorithms when individual robots are prone to distractions or breakdowns, or when task priorities change.
منابع مشابه
Task Allocation through Vacancy Chains: Action Selection in Multi-Robot Learning
We present an adaptive multi-robot task allocation algorithm based on vacancy chains, a resource distribution process common in animal and human societies. The algorithm uses individual reinforcement learning of task utilities and relies on the specializing abilities of the members of the group to promote dedicated optimal allocation patterns. We demonstrate through experiments in simulation, t...
متن کاملTask Allocation through Vacancy Chains: Effects of Action Selection in Multi-Robot Learning
We present an adaptive multi-robot task allocation algorithm based on vacancy chains, a resource distribution process common in animal and human societies. The algorithm uses individual reinforcement learning of task utilities and relies on the specializing abilities of the members of the group to promote dedicated optimal allocation patterns. We demonstrate through experiments in simulation, t...
متن کاملDistributed Multi-Robot Task Allocation through Vacancy Chains
Existing multi-robot task allocation algorithms (MRTA) generally do not consider the effects of interaction, such as interference, but instead assume that tasks are independent. That assumption, however, is often violated in groups of cooperative mobile robots, where interaction effects can have a critical impact on performance. Modeling the effects of interaction, or group dynamics, is problem...
متن کاملEmergent Robot Differentiation for Distributed Multi-Robot Task Allocation
We present a distributed mechanism for automatically allocating tasks to robots in a manner sensitive to each robot’s performance level without handcoding these levels in advance. This mechanism is an important part of improving multi-robot task allocation (MRTA) in systems where communication is restricted or where the complexity of the group dynamics makes it necessary to make allocation deci...
متن کاملA machine learning method for improving task allocation in distributed multi-robot transportation
Machine learning is a means of automatically generating solutions that perform better than those that are hand-coded by human programmers. We present a general behavior-based algorithm that uses reinforcement learning to improve the spatio-temporal organization of a homogeneous group of robots. In this algorithm each robot applies the learning at the level of individual behavior selection. We d...
متن کامل