Abstract

Abstract-This paper considers the problem of decentralized task assignment in a network of heterogeneous robots. We introduce a new algorithm named heterogeneous robots consensus-based allocation (HRCA), which can be viewed as a possible extension of the recently proposed consensus-based bundle algorithm (CBBA) for homogeneous robot networks. The HRCA is based on a two stage decentralized procedure. In the first stage, similarly to CBBA, an initial assignment based on market-based decision strategies and local communication is determined, disregarding possible constraints on the maximum number of tasks assignable to each robot. Constraint violations are handled in the second stage, in which an iterative procedure is used by the robots to redistribute the tasks exceeding their individual capacity with minimal losses in terms of score function. Numerical simulations are used to evaluate the performance of the HRCA in a set of randomly generated scenarios, which include some examples of homogeneous networks to allow a comparison with CBBA.

Autore Pugliese

• Naso David , Turchiano Biagio

Tutti gli autori

• Di Paola, D. , Naso, D. , Turchiano, B.

Titolo volume/Rivista

Non Disponibile

Anno di pubblicazione

2011

ISSN

Non Disponibile

ISBN

Non Disponibile

Numero di citazioni Wos

Nessuna citazione

Ultimo Aggiornamento Citazioni

Non Disponibile

Numero di citazioni Scopus

9

Ultimo Aggiornamento Citazioni

2017-04-21 03:20:17

Settori ERC

Non Disponibile

Codici ASJC

Non Disponibile