Group-Based Distributed Auction Algorithms for Multi-Robot Task Assignment

机器人 计算机科学 任务(项目管理) 拍卖算法 集合(抽象数据类型) 解算器 启发式 整数(计算机科学) 贪婪算法 算法 分布式算法 数学优化 分布式计算 人工智能 工程类 拍卖理论 共同价值拍卖 数学 收入等值 统计 程序设计语言 系统工程
作者
Xiaoshan Bai,Andrés Fielbaum,Maximilian Kronmüller,Luzia Knoedler,Javier Alonso–Mora
出处
期刊:IEEE Transactions on Automation Science and Engineering [Institute of Electrical and Electronics Engineers]
卷期号:20 (2): 1292-1303 被引量:11
标识
DOI:10.1109/tase.2022.3175040
摘要

This paper studies the multi-robot task assignment problem in which a fleet of dispersed robots needs to efficiently transport a set of dynamically appearing packages from their initial locations to corresponding destinations within prescribed time-windows. Each robot can carry multiple packages simultaneously within its capacity. Given a sufficiently large robot fleet, the objective is to minimize the robots’ total travel time to transport the packages within their respective time-window constraints. The problem is shown to be NP-hard, and we design two group-based distributed auction algorithms to solve this task assignment problem. Guided by the auction algorithms, robots first distributively calculate feasible package groups that they can serve, and then communicate to find an assignment of package groups. We quantify the potential of the algorithms with respect to the number of employed robots and the capacity of the robots by considering the robots’ total travel time to transport all packages. Simulation results show that the designed algorithms are competitive compared with an exact centralized Integer Linear Program representation solved with the commercial solver Gurobi, and superior to popular greedy algorithms and a heuristic distributed task allocation method. Note to Practitioners—This work presents two group-based distributed auction algorithms for a sufficiently large fleet of robots to efficiently transport a set of dynamically appearing dispersed packages from their initial locations to corresponding destinations within prescribed time-windows. Each robot can carry multiple packages simultaneously within its capacity, and the objective is to minimize the robots’ total travel time to transport all the packages within the prescribed time-windows. The paper’s practical contributions are threefold: First, the multi-robot task assignment problem is formulated through a robot-group assignment strategy, which enables complex logistic scheduling for tasks grouped according to their distributions and time-windows. Second, we theoretically show that the multi-robot task assignment problem is an NP-hard problem, which implies the necessity for designing approximate task assignment algorithms. Third, the proposed group-based distributed auction algorithms are efficient and can be adapted for real scenarios.
最长约 10秒,即可获得该文献文件

科研通智能强力驱动
Strongly Powered by AbleSci AI
更新
PDF的下载单位、IP信息已删除 (2025-6-4)

科研通是完全免费的文献互助平台,具备全网最快的应助速度,最高的求助完成率。 对每一个文献求助,科研通都将尽心尽力,给求助人一个满意的交代。
实时播报
努力的学完成签到,获得积分10
刚刚
KKKZ发布了新的文献求助10
1秒前
小狗博士完成签到,获得积分10
1秒前
柯柯完成签到,获得积分10
1秒前
顾海东完成签到,获得积分10
1秒前
2秒前
迅速冥茗完成签到,获得积分10
2秒前
hebhm完成签到,获得积分10
3秒前
Ava应助科研通管家采纳,获得10
4秒前
烟花应助科研通管家采纳,获得10
4秒前
4秒前
Daisy应助科研通管家采纳,获得10
4秒前
Ava应助科研通管家采纳,获得10
4秒前
予修应助科研通管家采纳,获得10
4秒前
李爱国应助科研通管家采纳,获得10
4秒前
打打应助科研通管家采纳,获得10
4秒前
香蕉觅云应助科研通管家采纳,获得20
4秒前
4秒前
Daisy应助科研通管家采纳,获得10
4秒前
SciGPT应助科研通管家采纳,获得10
4秒前
Lucas应助科研通管家采纳,获得10
4秒前
予修应助科研通管家采纳,获得10
4秒前
zx0914发布了新的文献求助20
4秒前
4秒前
4秒前
鹿门鹿门山完成签到,获得积分10
5秒前
环走鱼尾纹完成签到 ,获得积分10
6秒前
Ther发布了新的文献求助10
7秒前
KKKZ完成签到,获得积分10
7秒前
无花果应助自觉的凛采纳,获得10
7秒前
理穆辛完成签到 ,获得积分10
8秒前
潮鸣完成签到 ,获得积分10
8秒前
estrella完成签到 ,获得积分10
10秒前
FYm完成签到,获得积分10
10秒前
11秒前
11秒前
WJing发布了新的文献求助10
12秒前
量子星尘发布了新的文献求助10
12秒前
13秒前
butterfly完成签到,获得积分10
14秒前
高分求助中
【提示信息,请勿应助】关于scihub 10000
Les Mantodea de Guyane: Insecta, Polyneoptera [The Mantids of French Guiana] 3000
徐淮辽南地区新元古代叠层石及生物地层 3000
The Mother of All Tableaux: Order, Equivalence, and Geometry in the Large-scale Structure of Optimality Theory 3000
Handbook of Industrial Diamonds.Vol2 1100
Global Eyelash Assessment scale (GEA) 1000
Picture Books with Same-sex Parented Families: Unintentional Censorship 550
热门求助领域 (近24小时)
化学 材料科学 医学 生物 工程类 有机化学 生物化学 物理 内科学 纳米技术 计算机科学 化学工程 复合材料 遗传学 基因 物理化学 催化作用 冶金 细胞生物学 免疫学
热门帖子
关注 科研通微信公众号,转发送积分 4038368
求助须知:如何正确求助?哪些是违规求助? 3576068
关于积分的说明 11374313
捐赠科研通 3305780
什么是DOI,文献DOI怎么找? 1819322
邀请新用户注册赠送积分活动 892672
科研通“疑难数据库(出版商)”最低求助积分说明 815029