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A Fast Distributed Auction and Consensus Process for Allocation of Prioritised Tasks in Multi-Robot Systems

Biomedical Sciences Research Institute Computer Science Research Institute Environmental Sciences Research Institute Nanotechnology & Advanced Materials Research Institute

Das, Gautham, McGinnity, TM, Coleman, SA and Behera, Laxmidhar (2011) A Fast Distributed Auction and Consensus Process for Allocation of Prioritised Tasks in Multi-Robot Systems. In: Irish Conference on Artificial Intelligence and Cognitive Science, Londonderry. ISRC Technical Report Series. 10 pp. [Conference contribution]

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Abstract

The effectiveness of a multi-robot system is directly related to the coordination and cooperation among the robots. Decentralised task allocation algorithms have been proposed by prior researchers as a compromise between the robustness and solution optimality, and such algorithms can easily be employed for large teams of robot. We present an auction based decentralised task allocation algorithm, for task allocation in parallel to the task execution, suitable for task allocation in dynamic environments and scalable to large robot groups. The performance of the proposed algorithm under different conditions is compared with other distributed consensus algorithms.

Item Type:Conference contribution (Paper)
Faculties and Schools:Faculty of Computing & Engineering
Faculty of Computing & Engineering > School of Computing and Intelligent Systems
Research Institutes and Groups:Computer Science Research Institute
Computer Science Research Institute > Intelligent Systems Research Centre
ID Code:19902
Deposited By:Dr Sonya Coleman
Deposited On:26 Sep 2011 10:01
Last Modified:26 Sep 2011 10:01

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