Corpus ID: 234469780

A Resilient and Energy-Aware Task Allocation Framework for Heterogeneous Multi-Robot Systems

@article{Notomista2021ARA,
  title={A Resilient and Energy-Aware Task Allocation Framework for Heterogeneous Multi-Robot Systems},
  author={Gennaro Notomista and Siddharth Mayya and Y. Emam and C. Kroninger and Addison W. Bohannon and S. Hutchinson and M. Egerstedt},
  journal={ArXiv},
  year={2021},
  volume={abs/2105.05586}
}
In the context of heterogeneous multi-robot teams deployed for executing multiple tasks, this paper develops an energy-aware framework for allocating tasks to robots in an online fashion. With a primary focus on long-duration autonomy applications, we opt for a survivability-focused approach. Towards this end, the task prioritization and execution—through which the allocation of tasks to robots is effectively realized— are encoded as constraints within an optimization problem aimed at… Expand

References

SHOWING 1-10 OF 49 REFERENCES
An Optimal Task Allocation Strategy for Heterogeneous Multi-Robot Systems
Resilience by Reconfiguration: Exploiting Heterogeneity in Robot Teams
A comprehensive taxonomy for multi-robot task allocation
Energy Autonomy for Resource-Constrained Multi Robot Missions
  • Hassan Fouad, G. Beltrame
  • Computer Science
  • 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
  • 2020
Optimized Stochastic Policies for Task Allocation in Swarms of Robots
A Complete Methodology for Generating Multi-Robot Task Solutions using ASyMTRe-D and Market-Based Task Allocation
  • Fang Tang, L. Parker
  • Computer Science
  • Proceedings 2007 IEEE International Conference on Robotics and Automation
  • 2007
Heterogeneous multi-robot cooperation
Closed-loop task allocation in robot swarms using inter-robot encounters
...
1
2
3
4
5
...