Decentralized allocation of tasks with temporal and precedence constraints to a team of robots

Ernesto Nunes, Mitchell McIntire, Maria L Gini

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Scopus citations

Abstract

We propose an auction-based method for a team of robots to allocate and execute tasks that have temporal and precedence constraints. The robots use our priority-based iterated sequential single-item auction algorithm to allocate tasks among themselves and keep track of their individual schedules. The key idea is to decouple precedence constraints from temporal constraints and deal with them separately. In this paper we demonstrate how the allocation scheme can be extended to handle failures and delays during task execution. We demonstrate the effectiveness of our method in simulation and with real robot experiments.

Original languageEnglish (US)
Title of host publication2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages197-202
Number of pages6
ISBN (Electronic)9781509046164
DOIs
StatePublished - Feb 22 2017
Event2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2016 - San Francisco, United States
Duration: Dec 13 2016Dec 16 2016

Publication series

Name2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2016

Other

Other2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2016
Country/TerritoryUnited States
CitySan Francisco
Period12/13/1612/16/16

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