We address the Online Multi-Robot Task Allocation (OMRTA) problem. Our approach relies on a computational and sensing fabric of networked sensors embedded into the environment. This sensor network acts as a distributed sensor and computational platform which computes a solution to OMRTA and directs robots to the vicinity of tasks. We term this Distributed In-Network Task Allocation (DINTA). We describe DINTA, and show its application to multi-robot task allocation in simulation, laboratory, and field settings. We establish that such network-mediated task allocation scales well, and is especially amendable to simple, heterogeneous robots. © 2005 Springer.
CITATION STYLE
Batalin, M. A., & Sukhatme, G. S. (2005). Sensor network-mediated multi-robot task allocation. In Multi-Robot Systems. From Swarms to Intelligent Automata - Proceedings from the 2005 International Workshop on Multi-Robot Systems (Vol. 3, pp. 27–38). Kluwer Academic Publishers. https://doi.org/10.1007/1-4020-3389-3_3
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