Abstract

Distributed task assignment for multiple agents raises fundamental and novel control theory and robotics problems. A new challenge is the development of distributed algorithms that dynamically assign tasks to multiple agents, not relying on prior assignment information. This work presents a distributed method for multi-robot task management based on a message expiration-based validation approach. Our approach handles the conflicts caused by a disconnection in the distributed multi-robot system by using distance-based and timestamp-based measurements to validate the task allocation for each robot. Simulation experiments in the Robotarium simulator platform have verified the validity of the proposed approach.

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BibTeX (Download)

@conference{Gui2022,
title = {Message Expiration-Based Distributed Multi-Robot Task Management},
author = {Yikang Gui and Ehsan Latif and Ramviyas Parasuraman},
year  = {2022},
date = {2022-01-27},
booktitle = {The 5th International Symposium on Swarm Behavior and Bio-Inspired Robotics (SWARM 2022)},
abstract = {Distributed task assignment for multiple agents raises fundamental and novel control theory and robotics problems. A new challenge is the development of distributed algorithms that dynamically assign tasks to multiple agents, not relying on prior assignment information. This work presents a distributed method for multi-robot task management based on a message expiration-based validation approach. Our approach handles the conflicts caused by a disconnection in the distributed multi-robot system by using distance-based and timestamp-based measurements to validate the task allocation for each robot. Simulation experiments in the Robotarium simulator platform have verified the validity of the proposed approach.},
keywords = {multi-robot, planning, swarm-robotics},
pubstate = {published},
tppubtype = {conference}
}