Abstract

Dynamic task allocation is an essential requirement for multi-robot systems operating in unknown dynamic environments. It allows robots to change their behavior in response to environmental changes or actions of other robots in order to improve overall system performance. Emergent coordination algorithms for task allocation that use only local sensing and no direct communication between robots are attractive because they are robust and scalable. However, a lack of formal analysis tools makes emergent coordination algorithms difficult to design. In this paper we present a mathematical model of a general dynamic task allocation mechanism. Robots using this mechanism have to choose between two types of tasks, and the goal is to achieve a desired task division in the absence of explicit communication and global …

Date

January 1, 1970

Authors

Kristina Lerman, Chris Jones, Aram Galstyan, Maja J Matarić

Journal

The International Journal of Robotics Research

Volume

25

Issue

3

Pages

225-241

Publisher

SAGE Publications