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In order to solve the multi-robot task allocation problem in logistics warehouse environment, first a robot task allocation model is established in which a corresponding benefit function is established with a consideration of two mainly factors including time window and distance. Then the ant colony algorithm pheromone updating rule is improved combining with working environment and task allocation...
In this paper, we define a time-extended multirobot task allocation problem, design and analyze some heuristics to tackle the problem complexity in computational resource constrained settings. The robots (or agents) can perform a limited amount of work per unit of time, while the tasks have durations and deadlines by which they must be completed. These constraints, in addition to a relatively small...
Most multi-robot task allocation algorithms are concerned with the allocation of individual tasks to single robots. However certain types of tasks require a team of robots for their execution, and for the allocation of such tasks non-conflicting robot teams have to be formed. Most of the existing allocation algorithms for such tasks mainly address the robot-team formation and the tasks are allocated...
This paper researches the alliance generation algorithm with emotional factors on the basis of multiple robots pursuit-evader problem. Firstly, this paper constructs an emotional model for pursuit robots: we not only apply the basic emotion method to the emotional expression, but also simulate the process of emotional transfer with Hidden Markov Model (HMM). Secondly, we determine the cooperation...
The problem of multi-robot task allocation (MRTA) recently has received significant attention within the robotic research community. Despite the algorithms of the MRTA problems are growing in popularity and quality, they are scattered in different literature. In addition, the evaluation criteria among the algorithms are inconsistent. To address this issue, we overview the principal MRTA algorithms...
Mobile surveillance systems include a vast array of mobile sensing nodes with varying sensing modalities that can sense continuously the volume of interest. These distributed nodes are capable of sensing, processing, mobilization and communication with other nodes. One of the fundamental problems of mobile surveillance systems is how to assign a set of tasks to a set of mobile sensors and how to coordinate...
A new approach is proposed in this thesis based on Abandoned-undertaking Algorithm for multi-robot task allocation. By comparing both the Greedy and Compound Emotion Algorithm in the average amount of communications among robots, the average amount of communications between robots with certain rate of messages got lost, and the total runtime for the team of robots to finish the tasks. The results...
Within the frameworks of the well-known contract net protocol, a task allocation method for multi-robot cooperative hunting behavior is proposed based on an improved auction algorithm. Previous allocation methods using ordinary auction algorithms might turn out to be unsuitable when targets keep moving. Furthermore, the ordinary auctions might lead to unfavorable releases of the captured targets,...
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