Multi-robot task allocation using clustering method

Farzam Janati*, Farzaneh Abdollahi, Saeed Shiry Ghidary, Masoumeh Jannatifar, Jacky Baltes, Soroush Sadeghnejad

*此作品的通信作者

研究成果: 書貢獻/報告類型會議論文篇章

13 引文 斯高帕斯(Scopus)

摘要

This paper introduces an approach to solve the task assignment problem for a large number of tasks and robots in an efficient time. This method reduces the size of the state space explored by partitioning the tasks to the number of robotic agents. The proposed method is divided into three stages: first the tasks are partitioned to the number of robots, then robots are being assigned to the clusters optimally, and finally a task assignment algorithm is executed individually at each cluster. Two methods are adopted to solve the task assignment at each cluster, a genetic algorithm and an imitation learning algorithm. To verify the performance of the proposed approach, several numerical simulations are performed. Our empirical evaluation shows that clustering leads to great savings in runtime (up to a factor of 50), while maintaining the quality of the solution.

原文英語
主出版物標題Robot Intelligence Technology and Applications 4 - Results from the 4th International Conference on Robot Intelligence Technology and Applications
編輯Fakhri Karray, Jong-Hwan Kim, Hyun Myung, Jun Jo, Peter Sincak
發行者Springer Verlag
頁面233-247
頁數15
ISBN(列印)9783319312910
DOIs
出版狀態已發佈 - 2017
事件4th International Conference on Robot Intelligence Technology and Applications, RiTA 2015 - Bucheon, 大韓民國
持續時間: 2015 十二月 142015 十二月 16

出版系列

名字Advances in Intelligent Systems and Computing
447
ISSN(列印)2194-5357

其他

其他4th International Conference on Robot Intelligence Technology and Applications, RiTA 2015
國家/地區大韓民國
城市Bucheon
期間2015/12/142015/12/16

ASJC Scopus subject areas

  • 控制與系統工程
  • 電腦科學(全部)

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