A Swarm Based Approach for Multi-robot Task Allocation

摘要：

Multi-robot systems based on swarm intelligence have emerged with attractive characteristics, such as robustness, scalability, simplicity of individual, self-organization, etc., under the condition that an individual robot is incompetent or communication between them is of limited range or speed. The system can ensure that each individual robot handles the mission in an efficient manner. In this paper, we describe a multi-robot cooperation strategy to tackle the multi-robot dynamic task allocation problem in unknown environment. According to dynamic subswarm, the whole robot swarm will be divided into a number of sub-swarms of different size. Task allocation will be carry out in every sub-swarm, which reduces the task latency time and communication overhead, while ensuring enough resource to task. Finally, simulation results verify the effectiveness of the method.

关键词： Swarm Intelligence self-organization task allocation Multi-robot system

作者: Rubo Zhang Limei Jiang Xu Dong Bailong Liu

作者单位: College of Computer Science and Technology Harbin Engineering University Harbin Heilongjiang,China College of Computer Science and Technology Harbin Engineering University Harbin Heilongjiang, China

会议类型: 国际会议

会议名称: 2010 Second Asia-Pacific Conference on Information Processing(2010年第二届亚太地区信息处理国际会议 APCIP 2010)

会议地点: 南昌

会议语种:英文

页码: 502-505

在线出版日期: 2010-09-17（万方平台首次上网日期，不代表论文的发表时间）