CoLoSSI: Multi-Robot Task Allocation in Spatially-Distributed and Communication Restricted Environments
<p dir="ltr">In our research, we address the problem of coordination and planning in heterogeneous multi-robot systems for missions that consist of spatially localized tasks. Conventionally, this problem has been framed as a task allocation problem that maps tasks to robots. However,...
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2024
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| _version_ | 1864513541089787904 |
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| author | Ishaq Ansari (22047902) |
| author2 | Abubakr Mohammed (22047905) Yaqoob Ansari (22047908) Mohammed Yusuf Ansari (22047911) Saquib Razak (18812041) Eduardo Feo Flushing (22047914) |
| author2_role | author author author author author |
| author_facet | Ishaq Ansari (22047902) Abubakr Mohammed (22047905) Yaqoob Ansari (22047908) Mohammed Yusuf Ansari (22047911) Saquib Razak (18812041) Eduardo Feo Flushing (22047914) |
| author_role | author |
| dc.creator.none.fl_str_mv | Ishaq Ansari (22047902) Abubakr Mohammed (22047905) Yaqoob Ansari (22047908) Mohammed Yusuf Ansari (22047911) Saquib Razak (18812041) Eduardo Feo Flushing (22047914) |
| dc.date.none.fl_str_mv | 2024-09-25T12:00:00Z |
| dc.identifier.none.fl_str_mv | 10.1109/access.2024.3434645 |
| dc.relation.none.fl_str_mv | https://figshare.com/articles/journal_contribution/CoLoSSI_Multi-Robot_Task_Allocation_in_Spatially-Distributed_and_Communication_Restricted_Environments/29900726 |
| dc.rights.none.fl_str_mv | CC BY 4.0 info:eu-repo/semantics/openAccess |
| dc.subject.none.fl_str_mv | Engineering Control engineering, mechatronics and robotics Information and computing sciences Artificial intelligence Cooperative robotics distributed algorithms load balancing multi-robot systems non-atomic task model search and rescue robotics sequential single-item auctions task allocation Task analysis Robots Robot kinematics Resource management Robot sensing systems Computational efficiency Heuristic algorithms Multi-robot systems |
| dc.title.none.fl_str_mv | CoLoSSI: Multi-Robot Task Allocation in Spatially-Distributed and Communication Restricted Environments |
| dc.type.none.fl_str_mv | Text Journal contribution info:eu-repo/semantics/publishedVersion text contribution to journal |
| description | <p dir="ltr">In our research, we address the problem of coordination and planning in heterogeneous multi-robot systems for missions that consist of spatially localized tasks. Conventionally, this problem has been framed as a task allocation problem that maps tasks to robots. However, all previous work assumes that tasks are atomic procedures. In this work, we relax this assumption and adopt a non-atomic model of tasks that enables robots to accomplish mission tasks incrementally over disjoint periods, precisely to account for the possibility of having a task serviced by numerous individual contributions over time. We propose a cooperative, load-balancing task allocation and scheduling algorithm based on sequential single-item auctions (CoLoSSI) that explicitly considers the non-atomicity of tasks, promotes synergies between agents, and enables cooperation while maintaining computational tractability. We also propose a fully distributed variant of CoLoSSI that tackles sparse, communication-restricted scenarios. Computational and simulation results confirm the efficacy of the proposed approaches for generating good-quality mission plans with low computational effort.</p><h2>Other Information</h2><p dir="ltr">Published in: IEEE Access<br>License: <a href="https://creativecommons.org/licenses/by/4.0/deed.en" target="_blank">https://creativecommons.org/licenses/by/4.0/</a><br>See article on publisher's website: <a href="https://dx.doi.org/10.1109/access.2024.3434645" target="_blank">https://dx.doi.org/10.1109/access.2024.3434645</a></p> |
| eu_rights_str_mv | openAccess |
| id | Manara2_e4f4c488a1201c96cf491f07949a60fd |
| identifier_str_mv | 10.1109/access.2024.3434645 |
| network_acronym_str | Manara2 |
| network_name_str | Manara2 |
| oai_identifier_str | oai:figshare.com:article/29900726 |
| publishDate | 2024 |
| repository.mail.fl_str_mv | |
| repository.name.fl_str_mv | |
| repository_id_str | |
| rights_invalid_str_mv | CC BY 4.0 |
| spelling | CoLoSSI: Multi-Robot Task Allocation in Spatially-Distributed and Communication Restricted EnvironmentsIshaq Ansari (22047902)Abubakr Mohammed (22047905)Yaqoob Ansari (22047908)Mohammed Yusuf Ansari (22047911)Saquib Razak (18812041)Eduardo Feo Flushing (22047914)EngineeringControl engineering, mechatronics and roboticsInformation and computing sciencesArtificial intelligenceCooperative roboticsdistributed algorithmsload balancingmulti-robot systemsnon-atomic task modelsearch and rescue roboticssequential single-item auctionstask allocationTask analysisRobotsRobot kinematicsResource managementRobot sensing systemsComputational efficiencyHeuristic algorithmsMulti-robot systems<p dir="ltr">In our research, we address the problem of coordination and planning in heterogeneous multi-robot systems for missions that consist of spatially localized tasks. Conventionally, this problem has been framed as a task allocation problem that maps tasks to robots. However, all previous work assumes that tasks are atomic procedures. In this work, we relax this assumption and adopt a non-atomic model of tasks that enables robots to accomplish mission tasks incrementally over disjoint periods, precisely to account for the possibility of having a task serviced by numerous individual contributions over time. We propose a cooperative, load-balancing task allocation and scheduling algorithm based on sequential single-item auctions (CoLoSSI) that explicitly considers the non-atomicity of tasks, promotes synergies between agents, and enables cooperation while maintaining computational tractability. We also propose a fully distributed variant of CoLoSSI that tackles sparse, communication-restricted scenarios. Computational and simulation results confirm the efficacy of the proposed approaches for generating good-quality mission plans with low computational effort.</p><h2>Other Information</h2><p dir="ltr">Published in: IEEE Access<br>License: <a href="https://creativecommons.org/licenses/by/4.0/deed.en" target="_blank">https://creativecommons.org/licenses/by/4.0/</a><br>See article on publisher's website: <a href="https://dx.doi.org/10.1109/access.2024.3434645" target="_blank">https://dx.doi.org/10.1109/access.2024.3434645</a></p>2024-09-25T12:00:00ZTextJournal contributioninfo:eu-repo/semantics/publishedVersiontextcontribution to journal10.1109/access.2024.3434645https://figshare.com/articles/journal_contribution/CoLoSSI_Multi-Robot_Task_Allocation_in_Spatially-Distributed_and_Communication_Restricted_Environments/29900726CC BY 4.0info:eu-repo/semantics/openAccessoai:figshare.com:article/299007262024-09-25T12:00:00Z |
| spellingShingle | CoLoSSI: Multi-Robot Task Allocation in Spatially-Distributed and Communication Restricted Environments Ishaq Ansari (22047902) Engineering Control engineering, mechatronics and robotics Information and computing sciences Artificial intelligence Cooperative robotics distributed algorithms load balancing multi-robot systems non-atomic task model search and rescue robotics sequential single-item auctions task allocation Task analysis Robots Robot kinematics Resource management Robot sensing systems Computational efficiency Heuristic algorithms Multi-robot systems |
| status_str | publishedVersion |
| title | CoLoSSI: Multi-Robot Task Allocation in Spatially-Distributed and Communication Restricted Environments |
| title_full | CoLoSSI: Multi-Robot Task Allocation in Spatially-Distributed and Communication Restricted Environments |
| title_fullStr | CoLoSSI: Multi-Robot Task Allocation in Spatially-Distributed and Communication Restricted Environments |
| title_full_unstemmed | CoLoSSI: Multi-Robot Task Allocation in Spatially-Distributed and Communication Restricted Environments |
| title_short | CoLoSSI: Multi-Robot Task Allocation in Spatially-Distributed and Communication Restricted Environments |
| title_sort | CoLoSSI: Multi-Robot Task Allocation in Spatially-Distributed and Communication Restricted Environments |
| topic | Engineering Control engineering, mechatronics and robotics Information and computing sciences Artificial intelligence Cooperative robotics distributed algorithms load balancing multi-robot systems non-atomic task model search and rescue robotics sequential single-item auctions task allocation Task analysis Robots Robot kinematics Resource management Robot sensing systems Computational efficiency Heuristic algorithms Multi-robot systems |