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Development and Simulation of a Task Assignment Model for Multirobot Systems

Author(s): B.B.Biswal | B.B.Choudhury

Journal: International Journal of Engineering
ISSN 1985-2312

Volume: 1;
Issue: 2;
Start page: 12;
Date: 2007;
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Keywords: Multirobot | task allocation | allocation strategies | auction algorithms

Multirobot systems (MRS) hold the promise of improved performance and increased fault tolerance for large-scale problems. A robot team can accomplish a given task more quickly than a single agent by executing them concurrently. A team can also make effective use of specialists designed for a single purpose rather than requiring that a single robot be a generalist. Multirobot coordination, however, is a complex problem. An empirical study is described in the present paper that sought general guidelines for task allocation strategies. Different task allocation strategies are identified, and demonstrated in the multi-robot environment. A simulation study of the methodology is carried out in a simulated grid world. The results show that there is no single strategy that produces best performance in all cases, and that the best task allocation strategy changes as a function of the noise in the system. This result is significant, and shows the need for further investigation of task allocation strategies.
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