Improving the performance of multi-robot systems by task switching
We consider the problem of task assignment for a multi-robot system where each robot must attend to one or more queues of tasks. We assume that individual robots have no knowledge of tasks in the environment that are not in their queue. Robots in communication with each other may share information a...
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
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Institute of Electrical and Electronics Engineers (IEEE)
2014
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| Online Access: | http://hdl.handle.net/1721.1/90596 https://orcid.org/0000-0001-5473-3566 https://orcid.org/0000-0002-8967-1841 |
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| author | Ayanian, Nora Sung, Cynthia Rueyi Rus, Daniela L. |
| author2 | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory |
| author_facet | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Ayanian, Nora Sung, Cynthia Rueyi Rus, Daniela L. |
| author_sort | Ayanian, Nora |
| collection | MIT |
| description | We consider the problem of task assignment for a multi-robot system where each robot must attend to one or more queues of tasks. We assume that individual robots have no knowledge of tasks in the environment that are not in their queue. Robots in communication with each other may share information about active tasks and exchange queues to achieve lower cost for the system. We show that allowing this kind of task switching causes tasks to be completed more efficiently. In addition, we present conditions under which queues can be guaranteed to make progress, and we support these claims with simulation and experimental results. This work has potential applications in manufacturing, environmental exploration, and pickup-delivery tasks. |
| first_indexed | 2024-09-23T15:48:48Z |
| format | Article |
| id | mit-1721.1/90596 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T15:48:48Z |
| publishDate | 2014 |
| publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| record_format | dspace |
| spelling | mit-1721.1/905962022-10-02T04:15:14Z Improving the performance of multi-robot systems by task switching Ayanian, Nora Sung, Cynthia Rueyi Rus, Daniela L. Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology. School of Engineering Sung, Cynthia Rueyi Ayanian, Nora Rus, Daniela L. We consider the problem of task assignment for a multi-robot system where each robot must attend to one or more queues of tasks. We assume that individual robots have no knowledge of tasks in the environment that are not in their queue. Robots in communication with each other may share information about active tasks and exchange queues to achieve lower cost for the system. We show that allowing this kind of task switching causes tasks to be completed more efficiently. In addition, we present conditions under which queues can be guaranteed to make progress, and we support these claims with simulation and experimental results. This work has potential applications in manufacturing, environmental exploration, and pickup-delivery tasks. United States. Office of Naval Research. Multidisciplinary University Research Initiative (Grant N00014-09-1-1051) United States. Office of Naval Research. Multidisciplinary University Research Initiative (Grant N00014-09-1-1031) National Science Foundation (U.S.) (Award IIS-1117178) American Society for Engineering Education. National Defense Science and Engineering Graduate Fellowship 2014-10-07T19:01:11Z 2014-10-07T19:01:11Z 2013-05 Article http://purl.org/eprint/type/ConferencePaper 978-1-4673-5643-5 978-1-4673-5641-1 1050-4729 http://hdl.handle.net/1721.1/90596 Sung, Cynthia, Nora Ayanian, and Daniela Rus. “Improving the Performance of Multi-Robot Systems by Task Switching.” 2013 IEEE International Conference on Robotics and Automation (May 2013). https://orcid.org/0000-0001-5473-3566 https://orcid.org/0000-0002-8967-1841 en_US http://dx.doi.org/10.1109/ICRA.2013.6630993 Proceedings of the 2013 IEEE International Conference on Robotics and Automation Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Institute of Electrical and Electronics Engineers (IEEE) MIT web domain |
| spellingShingle | Ayanian, Nora Sung, Cynthia Rueyi Rus, Daniela L. Improving the performance of multi-robot systems by task switching |
| title | Improving the performance of multi-robot systems by task switching |
| title_full | Improving the performance of multi-robot systems by task switching |
| title_fullStr | Improving the performance of multi-robot systems by task switching |
| title_full_unstemmed | Improving the performance of multi-robot systems by task switching |
| title_short | Improving the performance of multi-robot systems by task switching |
| title_sort | improving the performance of multi robot systems by task switching |
| url | http://hdl.handle.net/1721.1/90596 https://orcid.org/0000-0001-5473-3566 https://orcid.org/0000-0002-8967-1841 |
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