Performance analysis of bid calculation methods in multirobot market-based task allocation

Burak KALECİ; Osman PARLAKTUNA

Makale detayları

Performance analysis of bid calculation methods in multirobot market-based task allocation

Yazarlar:

Burak KALECİ | Osman PARLAKTUNA

Yayıncı:

TUBITAK

Dergi:

Turkish Journal of Electrical Engineering and Computer Science 2013 Vol.21 Issue 2, pp.565-585

Belge Tipi:

Makale

Yayın Tarihi:

1/2013

Belge Dili:

Türkçe

Document ID (Org No.):

2000743363

Sıklık:

İki Aylık

eISSN:

1303-6203

pISSN:

1300-0632

Özet:

 

In this study, the empirical results of a market-based task  allocation method for heterogeneous and homogeneous robot teams and  different types of tasks in 2 different environments are presented.  The proposed method allocates robots to tasks through a parallel  multiitem auction-based process.  The main contribution of the  proposed method is energy-based bid calculations, which take into  account both the heterogeneity of the robot team and features of the  tasks.  The multirobot task allocation problem is considered as the  optimal assignment problem and the Hungarian algorithm is used to  clear the auctions.  Simulations are carried out using energy-based,  distance-based, and time-based bid calculation methods.  The methods  are implemented using a 3-type task set: cleaning a space, carrying an  object, and monitoring.  The tasks may have different sensitivities  and/or priority levels.  Simulations show that robot-task allocations  of all of the methods result in similar utility values when  single-type and/or same-featured tasks are used.  However, for  different-type and/or different-featured tasks, the proposed  energy-based bid calculation method assigns a greater number of  high-sensitivity tasks compared to the other 2 methods while consuming  almost the same amount of energy in both environments.  Additionally,  the energy-based method has a filtering behavior for high-priority  tasks.  These properties of the proposed method increase the  efficiency of the robot team.

 

In this study, the empirical results of a market-based task  allocation method for heterogeneous and homogeneous robot teams and  different types of tasks in 2 different environments are presented.  The proposed method allocates robots to tasks through a parallel  multiitem auction-based process.  The main contribution of the  proposed method is energy-based bid calculations, which take into  account both the heterogeneity of the robot team and features of the  tasks.  The multirobot task allocation problem is considered as the  optimal assignment problem and the Hungarian algorithm is used to  clear the auctions.  Simulations are carried out using energy-based,  distance-based, and time-based bid calculation methods.  The methods  are implemented using a 3-type task set: cleaning a space, carrying an  object, and monitoring.  The tasks may have different sensitivities  and/or priority levels.  Simulations show that robot-task allocations  of all of the methods result in similar utility values when  single-type and/or same-featured tasks are used.  However, for  different-type and/or different-featured tasks, the proposed  energy-based bid calculation method assigns a greater number of  high-sensitivity tasks compared to the other 2 methods while consuming  almost the same amount of energy in both environments.  Additionally,  the energy-based method has a filtering behavior for high-priority  tasks.  These properties of the proposed method increase the  efficiency of the robot team.

Makale detayları

Performance analysis of bid calculation methods in multirobot market-based task allocation

Yazarlar: Burak KALECİ | Osman PARLAKTUNA

Yayıncı: TUBITAK

Dergi: Turkish Journal of Electrical Engineering and Computer Science 2013 Vol.21 Issue 2, pp.565-585

Belge Tipi: Makale

Yayın Tarihi: 1/2013

Belge Dili: Türkçe

Document ID (Org No.): 2000743363

Sıklık: İki Aylık

eISSN: 1303-6203

pISSN: 1300-0632

Sayı

Yazarlar:

Burak KALECİ | Osman PARLAKTUNA

Yayıncı:

TUBITAK

Dergi:

Turkish Journal of Electrical Engineering and Computer Science 2013 Vol.21 Issue 2, pp.565-585

Belge Tipi:

Makale

Yayın Tarihi:

1/2013

Belge Dili:

Türkçe

Document ID (Org No.):

2000743363

Sıklık:

İki Aylık

eISSN:

1303-6203

pISSN:

1300-0632