DMCA
Distributed Multi-Robot Task Allocation through Vacancy Chains (2004)
| Venue: | Proceedings of the 2003 IEEE International Conference on Robotics and Automation (ICRA’03 |
BibTeX
@INPROCEEDINGS{Dahl04distributedmulti-robot,
author = {Torbjørn S. Dahl and Maja J. Mataric and Gaurav S. Sukhatme},
title = {Distributed Multi-Robot Task Allocation through Vacancy Chains},
booktitle = {Proceedings of the 2003 IEEE International Conference on Robotics and Automation (ICRA’03},
year = {2004},
pages = {2293--2298},
publisher = {IEEE Press}
}
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Abstract
Existing multi-robot task allocation algorithms (MRTA) generally do not consider the e#ects of interaction, such as interference, but instead assume that tasks are independent. That assumption, however, is often violated in groups of cooperative mobile robots, where interaction e#ects can have a critical impact on performance. Modeling the e#ects of interaction, or group dynamics, is problematic due to their complexity and volatility, which also makes it di#cult to hand-code optimal solutions to MRTA problems. We present a distributed MRTA algorithm that is sensitive to interaction dynamics. The algorithm uses distributed reinforcement learning to make interference-sensitive estimates of task utilities and relies on stigmergy to let optimal allocations emerge. The algorithm is inspired by vacancy chains, a resource distribution process common in human and animal societies. We present a formal model of task allocation through vacancy chains that defines optimal allocations in MRTA problems in terms of interference-sensitive measures of individual robot contributions. We validate our model by demonstrating, in simulation, how the predicted allocations are produced by our algorithm. As the robots continuously update their individual utility estimates, the vacancy chain algorithm has the additional property of adapting automatically to changes in the environment, e.g., robot breakdowns or changes in task values. We study the problem of cooperative transportation and demonstrate that our algorithm improves on the performance of hand-coded solutions. Finally, as the vacancy chain algorithm uses no communication or unique roles and is more robust and scalable than alternative algorithms with significant communication overheads.
Keyphrases
vacancy chain multi-robot task allocation optimal allocation mrta problem interference-sensitive measure animal society cooperative mobile robot predicted allocation critical impact distributed mrta algorithm task utility group dynamic algorithm improves formal model alternative algorithm hand-coded solution interference-sensitive estimate unique role individual utility estimate resource distribution process cooperative transportation vacancy chain algorithm multi-robot task allocation algorithm additional property algorithm us individual robot contribution robot breakdown hand-code optimal solution task allocation task value significant communication overhead
