Development of a task-oriented, auction-based task allocation framework for a heterogeneous multirobot system
A multirobot system has cooperative team of robots designed to enhance efficiency of its operations. One of the critically investigated problems of multirobot system is the multirobot task allocation (MRTA) issue. The main objective of MRTA is to assign tasks to the most suitable robot based on its...
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| Format: | Article |
| Language: | English |
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Springer India
2020
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| Online Access: | http://umpir.ump.edu.my/id/eprint/28378/1/Development%20of%20a%20task-oriented%2C%20auction-based%20task%20allocation%20framework%20.pdf |
| _version_ | 1796994066255183872 |
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| author | Tan, Eijyne Rishwaraj, G. Ponnambalam, S. G. |
| author_facet | Tan, Eijyne Rishwaraj, G. Ponnambalam, S. G. |
| author_sort | Tan, Eijyne |
| collection | UMP |
| description | A multirobot system has cooperative team of robots designed to enhance efficiency of its operations. One of the critically investigated problems of multirobot system is the multirobot task allocation (MRTA) issue. The main objective of MRTA is to assign tasks to the most suitable robot based on its functions and capability as well as availability. In this paper, a task-oriented, auction-based task allocation framework is presented and tested through simulations and real-world experiments. The developed framework consists of a novel heuristic-based task allocation algorithm and communication module. It is implemented in a multirobot system, allowing tasks to be dynamically assigned to the robots as they achieve given tasks. The implemented framework shows robustness in its flexibility to the task and environment requirements such as resource and energy requirements and size of the environment. The framework involved a task allocation algorithm, which consists of bid generation and bid selection process, and a TCP/IP-based client-server communication module. The results from both simulations and real-world experiments matched, producing optimum results in task allocation. |
| first_indexed | 2024-03-06T12:42:34Z |
| format | Article |
| id | UMPir28378 |
| institution | Universiti Malaysia Pahang |
| language | English |
| last_indexed | 2024-03-06T12:42:34Z |
| publishDate | 2020 |
| publisher | Springer India |
| record_format | dspace |
| spelling | UMPir283782020-06-15T02:31:10Z http://umpir.ump.edu.my/id/eprint/28378/ Development of a task-oriented, auction-based task allocation framework for a heterogeneous multirobot system Tan, Eijyne Rishwaraj, G. Ponnambalam, S. G. TJ Mechanical engineering and machinery TS Manufactures A multirobot system has cooperative team of robots designed to enhance efficiency of its operations. One of the critically investigated problems of multirobot system is the multirobot task allocation (MRTA) issue. The main objective of MRTA is to assign tasks to the most suitable robot based on its functions and capability as well as availability. In this paper, a task-oriented, auction-based task allocation framework is presented and tested through simulations and real-world experiments. The developed framework consists of a novel heuristic-based task allocation algorithm and communication module. It is implemented in a multirobot system, allowing tasks to be dynamically assigned to the robots as they achieve given tasks. The implemented framework shows robustness in its flexibility to the task and environment requirements such as resource and energy requirements and size of the environment. The framework involved a task allocation algorithm, which consists of bid generation and bid selection process, and a TCP/IP-based client-server communication module. The results from both simulations and real-world experiments matched, producing optimum results in task allocation. Springer India 2020-05-09 Article PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/28378/1/Development%20of%20a%20task-oriented%2C%20auction-based%20task%20allocation%20framework%20.pdf Tan, Eijyne and Rishwaraj, G. and Ponnambalam, S. G. (2020) Development of a task-oriented, auction-based task allocation framework for a heterogeneous multirobot system. Sadhana, 45 (1). pp. 1-13. ISSN 0256-2499 (Print); 0973-7677 (Online). (Published) https://doi.org/10.1007/s12046-020-01330-4 https://doi.org/10.1007/s12046-020-01330-4 |
| spellingShingle | TJ Mechanical engineering and machinery TS Manufactures Tan, Eijyne Rishwaraj, G. Ponnambalam, S. G. Development of a task-oriented, auction-based task allocation framework for a heterogeneous multirobot system |
| title | Development of a task-oriented, auction-based task allocation framework for a heterogeneous multirobot system |
| title_full | Development of a task-oriented, auction-based task allocation framework for a heterogeneous multirobot system |
| title_fullStr | Development of a task-oriented, auction-based task allocation framework for a heterogeneous multirobot system |
| title_full_unstemmed | Development of a task-oriented, auction-based task allocation framework for a heterogeneous multirobot system |
| title_short | Development of a task-oriented, auction-based task allocation framework for a heterogeneous multirobot system |
| title_sort | development of a task oriented auction based task allocation framework for a heterogeneous multirobot system |
| topic | TJ Mechanical engineering and machinery TS Manufactures |
| url | http://umpir.ump.edu.my/id/eprint/28378/1/Development%20of%20a%20task-oriented%2C%20auction-based%20task%20allocation%20framework%20.pdf |
| work_keys_str_mv | AT taneijyne developmentofataskorientedauctionbasedtaskallocationframeworkforaheterogeneousmultirobotsystem AT rishwarajg developmentofataskorientedauctionbasedtaskallocationframeworkforaheterogeneousmultirobotsystem AT ponnambalamsg developmentofataskorientedauctionbasedtaskallocationframeworkforaheterogeneousmultirobotsystem |