A Distributed Tasks Allocation Scheme in Multi-UAV Context - LAAS - Laboratoire d'Analyse et d'Architecture des Systèmes Accéder directement au contenu
Communication Dans Un Congrès Année : 2004

A Distributed Tasks Allocation Scheme in Multi-UAV Context

Rachid Alami
Simon Lacroix

Résumé

This paper deals with the task allocation problem in multi-robot systems. We propose a completely distributed architecture, where robots dynamically allocate their tasks while they are building their plans. We first focus on the problem of simple "goto" tasks allocation: our approach involves an incremental task allocation algorithm based on the Contract-Net protocol. We introduce a parameter called equity coefficient in order to equilibrate the workload between the different robots and to control the triggering of the auction process. Then, we address the problem raised by temporal constraints between tasks, by dynamically specifying temporary hierarchies among the tasks. Tests run in simulation quantify the benefits of our improvements.
Fichier principal
Vignette du fichier
2004-icra-lemaire.pdf (172.29 Ko) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-01979743 , version 1 (13-01-2019)

Identifiants

  • HAL Id : hal-01979743 , version 1

Citer

Thomas Lemaire, Rachid Alami, Simon Lacroix. A Distributed Tasks Allocation Scheme in Multi-UAV Context. IEEE International Conference on Robotics and Automation, May 2004, New Orleans, United States. ⟨hal-01979743⟩
19 Consultations
50 Téléchargements

Partager

Gmail Facebook X LinkedIn More