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1
Gul, Omer Melih. « Energy Harvesting and Task-Aware Multi-Robot Task Allocation in Robotic Wireless Sensor Networks ». Sensors 23, no 6 (20 mars 2023) : 3284. http://dx.doi.org/10.3390/s23063284.
Texte intégralRésumé :
In this work, we investigate an energy-aware multi-robot task-allocation (MRTA) problem in a cluster of the robot network that consists of a base station and several clusters of energy-harvesting (EH) robots. It is assumed that there are M+1 robots in the cluster and M tasks exist in each round. In the cluster, a robot is elected as the cluster head, which assigns one task to each robot in that round. Its responsibility (or task) is to collect the resultant data from the remaining M robots to aggregate and transmit directly to the BS. This paper aims to allocate the M tasks to the remaining M robots optimally or near optimally by considering the distance to be traveled by each node, the energy required for executing each task, the battery level at each node, and the energy-harvesting capabilities of the nodes. Then, this work presents three algorithms: Classical MRTA Approach, Task-aware MRTA Approach, EH and Task-aware MRTA Approach. The performances of the proposed MRTA algorithms are evaluated under both independent and identically distributed (i.i.d.) and Markovian energy-harvesting processes for different scenarios with five robots and 10 robots (with the same number of tasks). EH and Task-aware MRTA Approach shows the best performance among all MRTA approaches by keeping up to 100% more energy in the battery than the Classical MRTA Approach and keeping up to 20% more energy in the battery than the Task-aware MRTA Approach.
2
Li, Ping, et Jun Yan Zhu. « The Application of Game Theory in RoboCup Soccer Game ». Applied Mechanics and Materials 530-531 (février 2014) : 1053–57. http://dx.doi.org/10.4028/www.scientific.net/amm.530-531.1053.
Texte intégralRésumé :
In response to characters of multi-robot systems in RoboCup soccer game and dependence between decisions of robots, multi-robot systems task allocation was analyzed by means of game theory in this paper. Formalized description based on game theory for multi-robot system task allocation was offered, and a game theory based task allocation algorithm for multi-robot systems (GT-MRTA) was proposed. Experiments show that GT-MRTA has low complexity, and less time-consumption, can obtain comparative schemes with centralized method, and shows good robustness to communication failure and robot failure.
3
Ayari, Asma, et Sadok Bouamama. « ACD3GPSO : automatic clustering-based algorithm for multi-robot task allocation using dynamic distributed double-guided particle swarm optimization ». Assembly Automation 40, no 2 (26 septembre 2019) : 235–47. http://dx.doi.org/10.1108/aa-03-2019-0056.
Texte intégralRésumé :
Purpose The multi-robot task allocation (MRTA) problem is a challenging issue in the robotics area with plentiful practical applications. Expanding the number of tasks and robots increases the size of the state space significantly and influences the performance of the MRTA. As this process requires high computational time, this paper aims to describe a technique that minimizes the size of the explored state space, by partitioning the tasks into clusters. In this paper, the authors address the problem of MRTA by putting forward a new automatic clustering algorithm of the robots' tasks based on a dynamic-distributed double-guided particle swarm optimization, namely, ACD3GPSO. Design/methodology/approach This approach is made out of two phases: phase I groups the tasks into clusters using the ACD3GPSO algorithm and phase II allocates the robots to the clusters. Four factors are introduced in ACD3GPSO for better results. First, ACD3GPSO uses the k-means algorithm as a means to improve the initial generation of particles. The second factor is the distribution using the multi-agent approach to reduce the run time. The third one is the diversification introduced by two local optimum detectors LODpBest and LODgBest. The last one is based on the concept of templates and guidance probability Pguid. Findings Computational experiments were carried out to prove the effectiveness of this approach. It is compared against two state-of-the-art solutions of the MRTA and against two evolutionary methods under five different numerical simulations. The simulation results confirm that the proposed method is highly competitive in terms of the clustering time, clustering cost and MRTA time. Practical implications The proposed algorithm is quite useful for real-world applications, especially the scenarios involving a high number of robots and tasks. Originality/value In this methodology, owing to the ACD3GPSO algorithm, task allocation's run time has diminished. Therefore, the proposed method can be considered as a vital alternative in the field of MRTA with growing numbers of both robots and tasks. In PSO, stagnation and local optima issues are avoided by adding assorted variety to the population, without losing its fast convergence.
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Elfakharany, Ahmed, et Zool Hilmi Ismail. « End-to-End Deep Reinforcement Learning for Decentralized Task Allocation and Navigation for a Multi-Robot System ». Applied Sciences 11, no 7 (24 mars 2021) : 2895. http://dx.doi.org/10.3390/app11072895.
Texte intégralRésumé :
In this paper, we present a novel deep reinforcement learning (DRL) based method that is used to perform multi-robot task allocation (MRTA) and navigation in an end-to-end fashion. The policy operates in a decentralized manner mapping raw sensor measurements to the robot’s steering commands without the need to construct a map of the environment. We also present a new metric called the Task Allocation Index (TAI), which measures the performance of a method that performs MRTA and navigation from end-to-end in performing MRTA. The policy was trained on a simulated gazebo environment. The centralized learning and decentralized execution paradigm was used for training the policy. The policy was evaluated quantitatively and visually. The simulation results showed the effectiveness of the proposed method deployed on multiple Turtlebot3 robots.
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Yuan, Ruiping, Jiangtao Dou, Juntao Li, Wei Wang et Yingfan Jiang. « Multi-robot task allocation in e-commerce RMFS based on deep reinforcement learning ». Mathematical Biosciences and Engineering 20, no 2 (2022) : 1903–18. http://dx.doi.org/10.3934/mbe.2023087.
Texte intégralRésumé :
<abstract><p>A Robotic Mobile Fulfillment System (RMFS) is a new type of parts-to-picker order fulfillment system where multiple robots coordinate to complete a large number of order picking tasks. The multi-robot task allocation (MRTA) problem in RMFS is complex and dynamic, and it cannot be well solved by traditional MRTA methods. This paper proposes a task allocation method for multiple mobile robots based on multi-agent deep reinforcement learning, which not only has the advantage of reinforcement learning in dealing with dynamic environment but also can solve the task allocation problem of large state space and high complexity utilizing deep learning. First, a multi-agent framework based on cooperative structure is proposed according to the characteristics of RMFS. Then, a multi agent task allocation model is constructed based on Markov Decision Process. In order to avoid inconsistent information among agents and improve the convergence speed of traditional Deep Q Network (DQN), an improved DQN algorithm based on a shared utilitarian selection mechanism and priority empirical sample sampling is proposed to solve the task allocation model. Simulation results show that the task allocation algorithm based on deep reinforcement learning is more efficient than that based on a market mechanism, and the convergence speed of the improved DQN algorithm is much faster than that of the original DQN algorithm.</p></abstract>
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Tamali, Abderrahmane, Nourredine Amardjia et Mohammed Tamali. « Distributed and autonomous multi-robot for task allocation and collaboration using a greedy algorithm and robot operating system platform ». IAES International Journal of Robotics and Automation (IJRA) 13, no 2 (1 juin 2024) : 205. http://dx.doi.org/10.11591/ijra.v13i2.pp205-219.
Texte intégralRésumé :
Research investigations in the realm of micro-robotics often center around strategies addressing the multi-robot task allocation (MRTA) problem. Our contribution delves into the collaborative dynamics of micro-robots deployed in targeted hostile environments. Employing advanced algorithms, these robots play a crucial role in enhancing and streamlining operations within sensitive areas. We adopt a tailored GREEDY approach, strategically adjusting weight parameters in a multi-objective function that serves as a cost metric. The objective function, designed for optimization purposes, aggregates the cost functions of all agents involved. Our evaluation meticulously examines the MRTA efficiency for each micro-robot, considering dependencies on factors such as radio connectivity, available energy, and the absolute and relative availability of agents. The central focus is on validating the positive trend associated with an increasing number of agents constituting the cluster. Our methodology introduces a trio of micro-robots, unveiling a flexible strategy aimed at detecting individuals at risk in demanding environments. Each micro-robot within the cluster is equipped with logic that ensures compatibility and cooperation, enabling them to effectively execute assigned missions. The implementation of MRTA-based collaboration algorithms serves as an adaptive strategy, optimizing agents' mobility based on specific criteria related to the characteristics of the target site.<p class="JAMRISAbstract"> </p>
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Arif, Muhammad Usman, et Sajjad Haider. « A Flexible Framework for Diverse Multi-Robot Task Allocation Scenarios Including Multi-Tasking ». ACM Transactions on Autonomous and Adaptive Systems 16, no 1 (31 mars 2021) : 1–23. http://dx.doi.org/10.1145/3502200.
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In a multi-robot operation, multi-tasking resources are expected to simultaneously perform multiple tasks, thus, reducing the overall time/energy requirement of the operation. This paper presents a task allocation framework named Rostam that efficiently utilizes multi-tasking capable robots. Rostam uses a task clustering mechanism to form robot specific task maps. The customized maps identify tasks that can be multi-tasked by individual robots and mark them for simultaneous execution. The framework then uses an Evolutionary Algorithm along with the customized maps to make quality task allocations. The most prominent contribution of this work is Rostam's flexible design which enables it to handle a range of task allocation scenarios seamlessly. Rostam's performance is evaluated against an auction-based scheme; the results demonstrate its effective use of multi-tasking robots. The paper also demonstrates Rostam's flexibility towards a number of MRTA scenarios through a case study.
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Badreldin, Mohamed, Ahmed Hussein et Alaa Khamis. « A Comparative Study between Optimization and Market-Based Approaches to Multi-Robot Task Allocation ». Advances in Artificial Intelligence 2013 (12 novembre 2013) : 1–11. http://dx.doi.org/10.1155/2013/256524.
Texte intégralRésumé :
This paper presents a comparative study between optimization-based and market-based approaches used for solving the Multirobot task allocation (MRTA) problem that arises in the context of multirobot systems (MRS). The two proposed approaches are used to find the optimal allocation of a number of heterogeneous robots to a number of heterogeneous tasks. The two approaches were extensively tested over a number of test scenarios in order to test their capability of handling complex heavily constrained MRS applications that include extended number of tasks and robots. Finally, a comparative study is implemented between the two approaches and the results show that the optimization-based approach outperforms the market-based approach in terms of optimal allocation and computational time.
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Zhao, Donghui, Chenhao Yang, Tianqi Zhang, Junyou Yang et Yokoi Hiroshi. « A Task Allocation Approach of Multi-Heterogeneous Robot System for Elderly Care ». Machines 10, no 8 (28 juillet 2022) : 622. http://dx.doi.org/10.3390/machines10080622.
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Roboticized nursing technology is a significant means to implement efficient elderly care and improve their welfare. Introducing multi-heterogeneous robot systems (MHRS) and sensor networks into a smart home is a promising approach to improve the safety and acceptability of elderly care services in daily life. Among them, the energy consumption and task planning of MHRS determine nursing safety, which is particularly important in the real nursing process. Therefore, we established a novel smart home for elderly care based on seven heterogeneous nursing robots, and proposed a multi-robot task allocation (MRTA) algorithm, considering execution time and energy consumption. The whole system efficiency makes up for the functional limitations and service continuity of traditional MHRS. To realize efficiently conducted multitasks, we established an architecture with centralized task allocation center, robot alliance layer and distributed execution layer for the MHRS. The self-organizing architecture contributes to overall task allocation, communication and adaptive cooperative control between different robots. Then, to clearly describe the continuous nursing process with multiple simultaneous demands and emergency tasks, we modeled the whole nursing process with continuity, multi-priority, and interpretability. A novel MRTA algorithm with a dynamic bidding mechanism was proposed. Comprehensive experiments showed that the proposed algorithm could effectively solve the three key problems of multi-priority tasks, multi-robot safe and adaptive cooperation, and emergency task call in the scene of elderly care. The proposed architecture regarding the smart home could be applied in nursing centers, hospitals, and other places for elderly care.
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Martin, J. G., J. R. D. Frejo, R. A. García et E. F. Camacho. « Multi-robot task allocation problem with multiple nonlinear criteria using branch and bound and genetic algorithms ». Intelligent Service Robotics 14, no 5 (novembre 2021) : 707–27. http://dx.doi.org/10.1007/s11370-021-00393-4.
Texte intégralRésumé :
AbstractThe paper proposes the formulation of a single-task robot (ST), single-robot task (SR), time-extended assignment (TA), multi-robot task allocation (MRTA) problem with multiple, nonlinear criteria using discrete variables that drastically reduce the computation burden. Obtaining an allocation is addressed by a Branch and Bound (B&B) algorithm in low scale problems and by a genetic algorithm (GA) specifically developed for the proposed formulation in larger scale problems. The GA crossover and mutation strategies design ensure that the descendant allocations of each generation will maintain a certain level of feasibility, reducing greatly the range of possible descendants, and accelerating their convergence to a sub-optimal allocation. The proposed MRTA algorithms are simulated and analyzed in the context of a thermosolar power plant, for which the spatially distributed Direct Normal Irradiance (DNI) is estimated using a heterogeneous fleet composed of both aerial and ground unmanned vehicles. Three optimization criteria are simultaneously considered: distance traveled, time required to complete the task and energetic feasibility. Even though this paper uses a thermosolar power plant as a case study, the proposed algorithms can be applied to any MRTA problem that uses a multi-criteria and nonlinear cost function in an equivalent way. The performance and response of the proposed algorithms are compared for four different scenarios. The results show that the B&B algorithm can find the global optimal solution in a reasonable time for a case with four robots and six tasks. For larger problems, the genetic algorithm approaches the global optimal solution in much less computation time. Moreover, the trade-off between computation time and accuracy can be easily carried out by tuning the parameters of the genetic algorithm according to the available computational power.
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Gautier, Paul, et Johann Laurent. « DQN as an alternative to Market-based approaches for Multi-Robot processing Task Allocation (MRpTA) ». International Journal of Robotic Computing 3, no 1 (1 mai 2021) : 69–98. http://dx.doi.org/10.35708/rc1870-126266.
Texte intégralRésumé :
Multi-robot task allocation (MRTA) problems require that robots make complex choices based on their understanding of a dynamic and uncertain environment. As a distributed computing system, the Multi-Robot System (MRS) must handle and distribute processing tasks (MRpTA). Each robot must contribute to the overall efficiency of the system based solely on a limited knowledge of its environment. Market-based methods are a natural candidate to deal processing tasks over a MRS but recent and numerous developments in reinforcement learning and especially Deep Q-Networks (DQN) provide new opportunities to solve the problem. In this paper we propose a new DQN-based method so that robots can learn directly from experience, and compare it with Market-based approaches as well with centralized and purely local solutions. Our study shows the relevancy of learning-based methods and also highlight research challenges to solve the processing load-balancing problem in MRS.
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Abderrahmane, Tamali, Tamali Mohammed et Amardjia Nourredine. « An adaptive genetic algorithm for the optimization of multi-mobile robot collaboration ». STUDIES IN ENGINEERING AND EXACT SCIENCES 5, no 2 (31 juillet 2024) : e6270. http://dx.doi.org/10.54021/seesv5n2-064.
Texte intégralRésumé :
The proposed approach utilizes the Robot Operating System (ROS) to simulate multi-robot collaboration across various scenarios, ensuring rigorous testing and validation of the algorithm. Our simulation environment encompasses complex tasks such as 3D digitalization, which demand precise coordination and efficient resource management among robots. The adaptive genetic algorithm (GA) continuously adjusts its parameters to improve performance, making it highly suitable for dynamic and unpredictable environments. Our results demonstrate that the adaptive GA significantly enhances the efficiency and effectiveness of Multi-Robot Task Allocation (MRTA) compared to traditional methods that lack optimization. By incorporating a cost function with various weighted factors, the task allocation process becomes both comprehensive and adaptable to specific mission requirements. This ensures that the robots can allocate tasks efficiently, even as conditions change. This study underscores the potential of adaptive genetic algorithms to advance the capabilities of mobile multi-robot systems, particularly in applications that require high levels of collaboration and precision. Our approach not only improves task allocation efficiency but also enhances the overall coordination and performance of the robotic system. The adaptability and robustness of the GA make it a promising solution for real-world applications, including search-and-rescue missions, environmental monitoring, and industrial automation. So, the potential of adaptive genetic algorithm presents a significant advancement in optimizing mobile multi-robot collaboration. Also, its ability to dynamically adjust to changing conditions and improve task allocation processes highlights its potential for a wide range of applications, marking a notable step forward in the field of collaborative robotics.
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Kalempa, Vivian Cremer, Luis Piardi, Marcelo Limeira et André Schneider de Oliveira. « Multi-Robot Preemptive Task Scheduling with Fault Recovery : A Novel Approach to Automatic Logistics of Smart Factories ». Sensors 21, no 19 (30 septembre 2021) : 6536. http://dx.doi.org/10.3390/s21196536.
Texte intégralRésumé :
This paper presents a novel approach for Multi-Robot Task Allocation (MRTA) that introduces priority policies on preemptive task scheduling and considers dependencies between tasks, and tolerates faults. The approach is referred to as Multi-Robot Preemptive Task Scheduling with Fault Recovery (MRPF). It considers the interaction between running processes and their tasks for management at each new event, prioritizing the more relevant tasks without idleness and latency. The benefit of this approach is the optimization of production in smart factories, where autonomous robots are being employed to improve efficiency and increase flexibility. The evaluation of MRPF is performed through experimentation in small-scale warehouse logistics, referred to as Augmented Reality to Enhanced Experimentation in Smart Warehouses (ARENA). An analysis of priority scheduling, task preemption, and fault recovery is presented to show the benefits of the proposed approach.
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Baroudi, Uthman, Mohammad Alshaboti, Anis Koubaa et Sahar Trigui. « Dynamic Multi-Objective Auction-Based (DYMO-Auction) Task Allocation ». Applied Sciences 10, no 9 (8 mai 2020) : 3264. http://dx.doi.org/10.3390/app10093264.
Texte intégralRésumé :
In this paper, we address the problem of online dynamic multi-robot task allocation (MRTA) problem. In the existing literature, several works investigated this problem as a multi-objective optimization (MOO) problem and proposed different approaches to solve it including heuristic methods. Existing works attempted to find Pareto-optimal solutions to the MOO problem. However, to the best of authors’ knowledge, none of the existing works used the task quality as an objective to optimize. In this paper, we address this gap, and we propose a new method, distributed multi-objective task allocation approach (DYMO-Auction), that considers tasks’ quality requirement, along with travel distance and load balancing. A robot is capable of performing the same task with different levels of perfection, and a task needs to be performed with a level of perfection. We call this level of perfection quality level. We designed a new utility function to consider four competing metrics, namely the cost, energy, distance, type of tasks. It assigns the tasks dynamically as they emerge without global information and selects the auctioneer randomly for each new task to avoid the single point of failure. Extensive simulation experiments using a 3D Webots simulator are conducted to evaluate the performance of the proposed DYMO-Auction. DYMO-Auction is compared with the sequential single-item approach (SSI), which requires global information and offline calculations, and with Fuzzy Logic Multiple Traveling Salesman Problem (FL-MTSP) approach. The results demonstrate a proper matching with SSI in terms of quality satisfaction and load balancing. However, DYMO-Auction demands 20% more travel distance. We experimented with DYMO-Auction using real Turtlebot2 robots. The results of simulation experiments and prototype experiments follow the same trend. This demonstrates the usefulness and practicality of the proposed method in real-world scenarios.
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K A, Athira, Divya Udayan J et Umashankar Subramaniam. « A Systematic Literature Review on Multi-Robot Task Allocation ». ACM Computing Surveys, 14 octobre 2024. http://dx.doi.org/10.1145/3700591.
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Muti-Robot system is gaining attention and is one of the critical areas of research when it comes to robotics. Coordination among multiple robots and how different tasks are allocated to different system agents are being studied. The objective of this Systematic Literature Review (SLR) is to provide insights on the recent advancement in Multi Robot Task Allocation(MRTA) problems emphasizing promising approaches for task allocation. In this study, we collected scientific papers from 5 different databases for MRTA. We outline the different approaches for task allocation algorithms, classifying them according to the methods, and emphasizing recent advances. In addition, we discuss the function of uncertainty in task allocation and typical coordination techniques utilized in task allocation to identify gaps in the literature and suggest the most promising ones.
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Bischoff, Esther, Saskia Kohn, Daniela Hahn, Christian Braun, Simon Rothfuß et Sören Hohmann. « Heuristic reoptimization of time‐extended multi‐robot task allocation problems ». Networks, 12 mars 2024. http://dx.doi.org/10.1002/net.22217.
Texte intégralRésumé :
AbstractProviding high quality solutions is crucial when solving NP‐hard time‐extended multi‐robot task allocation (MRTA) problems. Reoptimization, that is, the concept of making use of a known solution to an optimization problem instance when the solution to a similar problem instance is sought, is a promising and rather new research field in this application domain. However, so far no approximative time‐extended MRTA solution approaches exist for which guarantees on the resulting solution's quality can be given. We investigate the reoptimization problems of inserting as well as deleting a task to/from a time‐extended MRTA problem instance. For both problems, we can give performance guarantees in the form of an upper bound of 2 on the resulting approximation ratio for all heuristics fulfilling a mild assumption. We furthermore introduce specific solution heuristics and prove that smaller and tight upper bounds on the approximation ratio can be given for these heuristics if only temporal unconstrained tasks and homogeneous groups of robots are considered. A conclusory evaluation of the reoptimization heuristic demonstrates a near‐to‐optimal performance in application.
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Paul, Steve, et Souma Chowdhury. « Learning to Allocate Time-Bound and Dynamic Tasks to Multiple Robots using Covariant Attention Neural Networks ». Journal of Computing and Information Science in Engineering, 3 juillet 2024, 1–13. http://dx.doi.org/10.1115/1.4065883.
Texte intégralRésumé :
Abstract In various applications of multi-robotics in disaster response, warehouse management, and manufacturing, tasks that are known apriori and tasks added during runtime need to be assigned efficiently and without conflicts to robots in the team. This multi-robot task allocation (MRTA) process presents itself as a combinatorial optimization (CO) problem that is usually challenging to be solved in meaningful timescales using typical (mixed)integer (non)linear programming tools. Building on a growing body of work in using graph reinforcement learning to learn search heuristics for such complex CO problems, this paper presents a new graph neural network architecture called the Covariant Attention Mechanism (CAM). CAM can not only generalize but also scale to larger problems than that encountered in training, and handle dynamic tasks. This architecture combines the concept of Covariant Compositional Networks used here to embed the local structures in task graphs, with a context module that encodes the robots' states. The encoded information is passed onto a decoder designed using Multi-head Attention mechanism. When applied to a class of MRTA problems with time deadlines, robot ferry range constraints, and multi-trip settings, CAM surpasses a state-of-art graph learning approach based on the attention mechanism, as well as a feasible random-walk baseline across various generalizability and scalability tests. Performance of CAM is also found to be at par with a high-performing non-learning baseline called BiG-MRTA, while noting up to a 70-fold improvement in decision-making efficiency over this baseline.