Performance analysis of the MRTA approaches for autonomous mobile robot

Abstract

The multi-robot task allocation is a fundamental problem in robotics research area. Indeed, robots are typically intended to collaborate together to achieve a given goal. This chapter studies the performance of the IDBM, CM-MTSP, FL-MTSP, and Move-and-Improve approaches. In order to highlight the performance of the proposed schemes, we compared each one to appropriate existing ones. IDMB was compared with the RTMA [1], CM-MTSP was compared with single-objective and greedy algorithms, and FL-MTSP was compared with a centralized approach based on genetic algorithm and with NSGA-II algorithm. To validate the efficiency of the Move-and-Improve distributed algorithm, we first conducted extensive simulations and evaluated its performance in terms of the total traveled distance and the ratio of overlaped targets under different settings. The simulation results show that IDMB and Move-and-Improve algorithms produce near-optimal solutions. Also, CM-MTSP and FL-MTSP provide a good trade-off between conflicting objectives.