Keywords

mobile robots, task allocation, utility function

Abstract

We define a novel algorithm based on utility functions for dynamically allocating tasks to mobile robots in a multi-robot system. The algorithm attempts to maximize the performance of the mobile robot while minimizing inter-robot communications. The algorithm takes into consideration the proximity of the mobile robot to the task, the priority of the task, the capability required by the task, the capabilities of the mobile robot, and the rarity of the capability within the population of mobile robots. We evaluate the proposed algorithm in a simulation study and compare it to alternative approaches, including the contract net protocol, an approach based on the knapsack problem, and random task selection. We find that our algorithm outperforms the alternatives in most metrics measured including percent of tasks complete, distance traveled per completed task, fairness of execution, number of communications, and utility achieved.

Notes

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Graduation Date

2008

Advisor

Boloni, Ladislau

Degree

Master of Science in Computer Engineering (M.S.Cp.E.)

College

College of Engineering and Computer Science

Department

Electrical Engineering and Computer Science

Degree Program

Computer Engineering

Format

application/pdf

Identifier

CFE0002274

URL

http://purl.fcla.edu/fcla/etd/CFE0002274

Language

English

Release Date

September 2008

Length of Campus-only Access

None

Access Status

Masters Thesis (Open Access)

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