A distributed approach to load balance for multi-robot task allocation Conference Paper uri icon

abstract

  • In this paper we develop a distributed scheme for multiple robots engaged in task allocation. Vision-based control is extensively used in robotics, however large data volume may delay the response of robots and lead to the mismatch of actuators and sensors. We build a cascade information retrieval model and the signal vector based sensing delivery mapping to maintain a tight coupling between sensing and acting. And we propose a novel mathematical model which overcomes the problem of the existing model which has no extendibility for multi-robot task allocation. The new Markov model is composed of a set of rate equations and uses the theory of eigen-values in order to augment the number of task types and get the analytical solution of the model. In the physical experiments the results verify that the multi-robot system can split itself according to the proportions of various tasks in the environment, and show the effectiveness of distributed method for desired load balance. 2014 IEEE.

name of conference

  • 2014 IEEE International Conference on Mechatronics and Automation

published proceedings

  • 2014 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (IEEE ICMA 2014)

author list (cited authors)

  • Zhou, J., Mu, D., Yang, F., Dai, G., & Shell, D. A.

citation count

  • 0

complete list of authors

  • Zhou, Jing||Mu, Dejun||Yang, Feisheng||Dai, Guanzhong||Shell, Dylan A

publication date

  • August 2014