Paper Info
Title
Decentralized Dynamic Task Allocation in Swarm Robotic Systems for Disaster Response: Extended Abstract
Abstract
Multiple robotic systems, working together, can provide important solutions to different real-world applications (e.g., disaster response), among which task allocation problems feature prominently. Very few existing decentralized multi-robotic task allocation (MRTA) methods simultaneously offer the following capabilities: consideration of task deadlines, consideration of robot range and task completion capacity limitations, and allowing asynchronous decision-making under dynamic task spaces. To provision these capabilities, this paper presents a computationally efficient algorithm that involves novel construction and matching of bipartite graphs. Its performance is tested on a multi-UAV flood response application.
Year
DOI
Venue
2019
10.1109/MRS.2019.8901062
2019 International Symposium on Multi-Robot and Multi-Agent Systems (MRS)
Keywords
Field
DocType
Multi-robotic task allocation,unmanned aerial vehicles,flood response
Robotic systems,Asynchronous communication,Swarm behaviour,Computer science,Bipartite graph,Task completion,Robot,Distributed computing
Conference
ISBN
Citations 
PageRank 
978-1-7281-2877-1
0
0.34
References 
Authors
5
3
Name
Order
Citations
PageRank
Payam Ghassemi101.69
David DePauw200.34
Souma Chowdhury377.63