A preference-based task allocation framework for multi-robot coordination

Dong Hyun Lee; Ji Hyeong Han; Jong Hwan Kim

doi:10.1109/ROBIO.2011.6181750

A preference-based task allocation framework for multi-robot coordination

Dong Hyun Lee, Ji Hyeong Han, Jong Hwan Kim

Dept. of Computer Science and Engineering

Seoul National University of Science and Technology (SNUST)

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

9 Scopus citations

Abstract

A market-based task allocation mechanism has been widely used in multi-robot coordination. However, most of approaches consider a bid as either quality or cost, or a combination of the two. This paper proposes a preference-based task allocation framework for coordination of multiple robots. To provide preference in task allocation, four bid elements are defined: task quality, task cost, task distance and task time. Tasks can be allocated considering the relative importance of the bid elements based on the preference. The utility of a robot is calculated using the bid elements and their weighted preference. The effectiveness of the proposed framework was demonstrated through the computer simulation of a cleaning mission.

Original language	English
Title of host publication	2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
Publisher	IEEE Computer Society
Pages	2925-2930
Number of pages	6
ISBN (Print)	9781457721373
DOIs	https://doi.org/10.1109/ROBIO.2011.6181750
State	Published - 2011
Event	2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 - Phuket, Thailand Duration: 7 Dec 2011 → 11 Dec 2011

Publication series

Name	2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011

Conference

Conference	2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011
Country/Territory	Thailand
City	Phuket
Period	7/12/11 → 11/12/11

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10.1109/ROBIO.2011.6181750

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Lee, D. H., Han, J. H., & Kim, J. H. (2011). A preference-based task allocation framework for multi-robot coordination. In 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 (pp. 2925-2930). Article 6181750 (2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011). IEEE Computer Society. https://doi.org/10.1109/ROBIO.2011.6181750

@inproceedings{dd3fa22f363948d4adfd273f3c952277,

title = "A preference-based task allocation framework for multi-robot coordination",

abstract = "A market-based task allocation mechanism has been widely used in multi-robot coordination. However, most of approaches consider a bid as either quality or cost, or a combination of the two. This paper proposes a preference-based task allocation framework for coordination of multiple robots. To provide preference in task allocation, four bid elements are defined: task quality, task cost, task distance and task time. Tasks can be allocated considering the relative importance of the bid elements based on the preference. The utility of a robot is calculated using the bid elements and their weighted preference. The effectiveness of the proposed framework was demonstrated through the computer simulation of a cleaning mission.",

author = "Lee, \{Dong Hyun\} and Han, \{Ji Hyeong\} and Kim, \{Jong Hwan\}",

year = "2011",

doi = "10.1109/ROBIO.2011.6181750",

language = "English",

isbn = "9781457721373",

series = "2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011",

publisher = "IEEE Computer Society",

pages = "2925--2930",

booktitle = "2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011",

note = "2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011 ; Conference date: 07-12-2011 Through 11-12-2011",

}

Lee, DH, Han, JH & Kim, JH 2011, A preference-based task allocation framework for multi-robot coordination. in 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011., 6181750, 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011, IEEE Computer Society, pp. 2925-2930, 2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011, Phuket, Thailand, 7/12/11. https://doi.org/10.1109/ROBIO.2011.6181750

A preference-based task allocation framework for multi-robot coordination. / Lee, Dong Hyun; Han, Ji Hyeong; Kim, Jong Hwan.
2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011. IEEE Computer Society, 2011. p. 2925-2930 6181750 (2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011).

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

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AB - A market-based task allocation mechanism has been widely used in multi-robot coordination. However, most of approaches consider a bid as either quality or cost, or a combination of the two. This paper proposes a preference-based task allocation framework for coordination of multiple robots. To provide preference in task allocation, four bid elements are defined: task quality, task cost, task distance and task time. Tasks can be allocated considering the relative importance of the bid elements based on the preference. The utility of a robot is calculated using the bid elements and their weighted preference. The effectiveness of the proposed framework was demonstrated through the computer simulation of a cleaning mission.

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ER -

A preference-based task allocation framework for multi-robot coordination

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