Resource constrained multirobot task allocation with a leader-follower coalition method

Jian Chen; Xiao Yan; Haoyao Chen; Dong Sun

doi:10.1109/IROS.2010.5650992

Resource constrained multirobot task allocation with a leader-follower coalition method

Jian Chen^*
, Xiao Yan
, Haoyao Chen
, Dong Sun

^*Corresponding author for this work

City University of Hong Kong
Harbin Institute of Technology Shenzhen

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

12 Scopus citations

Abstract

This paper investigates the multirobot task allocation (MRTA) problem for a group of heterogeneous mobile robots. The robots and tasks are characterized by resources as required by task execution. The robots are required to generate optimal solutions for the MRTA problem while forming coalitions to meet the resource constraints imposed by tasks. A leader-follower based coalition methodology is developed, with detailed discussions on leader selection, coalition forming and refinement algorithms. It is shown that the resource constrained task allocation problem can be well resolved by the proposed leader-follower coalition algorithms. Simulations performed on a mobile robot group demonstrate the effectiveness of the proposed approach.

Original language	English
Title of host publication	IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
Pages	5093-5098
Number of pages	6
DOIs	https://doi.org/10.1109/IROS.2010.5650992
State	Published - 2010
Externally published	Yes
Event	23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Taipei, Taiwan, Province of China Duration: 18 Oct 2010 → 22 Oct 2010

Publication series

Name	IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

Conference

Conference	23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010
Country/Territory	Taiwan, Province of China
City	Taipei
Period	18/10/10 → 22/10/10

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10.1109/IROS.2010.5650992

Cite this

Chen, J., Yan, X., Chen, H., & Sun, D. (2010). Resource constrained multirobot task allocation with a leader-follower coalition method. In IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings (pp. 5093-5098). Article 5650992 (IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings). https://doi.org/10.1109/IROS.2010.5650992

Chen, Jian ; Yan, Xiao ; Chen, Haoyao et al. / Resource constrained multirobot task allocation with a leader-follower coalition method. IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings. 2010. pp. 5093-5098 (IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings).

@inproceedings{5bf4943666ca44259636ab8ea1c558a1,

title = "Resource constrained multirobot task allocation with a leader-follower coalition method",

abstract = "This paper investigates the multirobot task allocation (MRTA) problem for a group of heterogeneous mobile robots. The robots and tasks are characterized by resources as required by task execution. The robots are required to generate optimal solutions for the MRTA problem while forming coalitions to meet the resource constraints imposed by tasks. A leader-follower based coalition methodology is developed, with detailed discussions on leader selection, coalition forming and refinement algorithms. It is shown that the resource constrained task allocation problem can be well resolved by the proposed leader-follower coalition algorithms. Simulations performed on a mobile robot group demonstrate the effectiveness of the proposed approach.",

author = "Jian Chen and Xiao Yan and Haoyao Chen and Dong Sun",

year = "2010",

doi = "10.1109/IROS.2010.5650992",

language = "英语",

isbn = "9781424466757",

series = "IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings",

pages = "5093--5098",

booktitle = "IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings",

note = "23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 ; Conference date: 18-10-2010 Through 22-10-2010",

}

Chen, J, Yan, X, Chen, H & Sun, D 2010, Resource constrained multirobot task allocation with a leader-follower coalition method. in IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings., 5650992, IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings, pp. 5093-5098, 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010, Taipei, Taiwan, Province of China, 18/10/10. https://doi.org/10.1109/IROS.2010.5650992

Resource constrained multirobot task allocation with a leader-follower coalition method. / Chen, Jian; Yan, Xiao; Chen, Haoyao et al.
IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings. 2010. p. 5093-5098 5650992 (IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

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AU - Chen, Jian

AU - Yan, Xiao

AU - Chen, Haoyao

AU - Sun, Dong

PY - 2010

Y1 - 2010

N2 - This paper investigates the multirobot task allocation (MRTA) problem for a group of heterogeneous mobile robots. The robots and tasks are characterized by resources as required by task execution. The robots are required to generate optimal solutions for the MRTA problem while forming coalitions to meet the resource constraints imposed by tasks. A leader-follower based coalition methodology is developed, with detailed discussions on leader selection, coalition forming and refinement algorithms. It is shown that the resource constrained task allocation problem can be well resolved by the proposed leader-follower coalition algorithms. Simulations performed on a mobile robot group demonstrate the effectiveness of the proposed approach.

AB - This paper investigates the multirobot task allocation (MRTA) problem for a group of heterogeneous mobile robots. The robots and tasks are characterized by resources as required by task execution. The robots are required to generate optimal solutions for the MRTA problem while forming coalitions to meet the resource constraints imposed by tasks. A leader-follower based coalition methodology is developed, with detailed discussions on leader selection, coalition forming and refinement algorithms. It is shown that the resource constrained task allocation problem can be well resolved by the proposed leader-follower coalition algorithms. Simulations performed on a mobile robot group demonstrate the effectiveness of the proposed approach.

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U2 - 10.1109/IROS.2010.5650992

DO - 10.1109/IROS.2010.5650992

M3 - 会议稿件

AN - SCOPUS:78651512277

SN - 9781424466757

T3 - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

SP - 5093

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BT - IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings

T2 - 23rd IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010

Y2 - 18 October 2010 through 22 October 2010

ER -

Chen J, Yan X, Chen H, Sun D. Resource constrained multirobot task allocation with a leader-follower coalition method. In IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings. 2010. p. 5093-5098. 5650992. (IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings). doi: 10.1109/IROS.2010.5650992

Resource constrained multirobot task allocation with a leader-follower coalition method

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