TY - GEN
T1 - Multi-robot task allocation using clustering method
AU - Janati, Farzam
AU - Abdollahi, Farzaneh
AU - Ghidary, Saeed Shiry
AU - Jannatifar, Masoumeh
AU - Baltes, Jacky
AU - Sadeghnejad, Soroush
N1 - Publisher Copyright:
© Springer international publishing switzerland 2017.
PY - 2017
Y1 - 2017
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84978481254&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84978481254&partnerID=8YFLogxK
U2 - 10.1007/978-3-319-31293-4_19
DO - 10.1007/978-3-319-31293-4_19
M3 - Conference contribution
AN - SCOPUS:84978481254
SN - 9783319312910
T3 - Advances in Intelligent Systems and Computing
SP - 233
EP - 247
BT - Robot Intelligence Technology and Applications 4 - Results from the 4th International Conference on Robot Intelligence Technology and Applications
A2 - Karray, Fakhri
A2 - Kim, Jong-Hwan
A2 - Myung, Hyun
A2 - Jo, Jun
A2 - Sincak, Peter
PB - Springer Verlag
T2 - 4th International Conference on Robot Intelligence Technology and Applications, RiTA 2015
Y2 - 14 December 2015 through 16 December 2015
ER -