TY - GEN
T1 - Hybrid SUSD-Based Task Allocation for Heterogeneous Multi-Robot Teams
AU - Chen, Shengkang
AU - Lin, Tony X.
AU - Al-Abri, Said
AU - Arkin, Ronald C.
AU - Zhang, Fumin
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - Effective task allocation is an essential component to the coordination of heterogeneous robots. This paper proposes a hybrid task allocation algorithm that improves upon given initial solutions, for example from the popular decentralized market-based allocation algorithm, via a derivative-free optimization strategy called Speeding-Up and Slowing-Down (SUSD). Based on the initial solutions, SUSD performs a search to find an improved task assignment. Unique to our strategy is the ability to apply a gradient-like search to solve a classical integer-programming problem. The proposed strategy outperforms other state-of-the-art algorithms in terms of total task utility and can achieve near optimal solutions in simulation. Experimental results using the Robotarium are also provided.
AB - Effective task allocation is an essential component to the coordination of heterogeneous robots. This paper proposes a hybrid task allocation algorithm that improves upon given initial solutions, for example from the popular decentralized market-based allocation algorithm, via a derivative-free optimization strategy called Speeding-Up and Slowing-Down (SUSD). Based on the initial solutions, SUSD performs a search to find an improved task assignment. Unique to our strategy is the ability to apply a gradient-like search to solve a classical integer-programming problem. The proposed strategy outperforms other state-of-the-art algorithms in terms of total task utility and can achieve near optimal solutions in simulation. Experimental results using the Robotarium are also provided.
UR - http://www.scopus.com/inward/record.url?scp=85168706222&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85168706222&partnerID=8YFLogxK
U2 - 10.1109/ICRA48891.2023.10161349
DO - 10.1109/ICRA48891.2023.10161349
M3 - Conference contribution
AN - SCOPUS:85168706222
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 1400
EP - 1406
BT - Proceedings - ICRA 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2023 IEEE International Conference on Robotics and Automation, ICRA 2023
Y2 - 29 May 2023 through 2 June 2023
ER -