Priority based multi robot task assignment

Abstract

In this paper, we designed and developed three new model related to task assignment in robotics. The aim is to allocate all the robots to all the available tasks such that all tasks are finished with minimum total cost and minimum time taken. The first model is completely based on priority but waits for robots and allocates task only to the most suitable robots (highest bid robots). The second model completes the task in such a way that it allocates best robots that are currently available to the task without waiting for the most suitable robots to be free. The third and final model uses heuristics based approach with auction algorithm to identify the non-performing slow robots and eliminate them from the list of available robots. This helps in increasing the efficiency of the whole system and helps to reduce the total cost of performance for the system. The work aims at providing a best suitable algorithm for completing all the tasks with minimum overhead and maintaining a specific order for the completion of the tasks. Further it also rejects the slow working robots so that the total time taken for completion can be reduced. © 2012 Springer-Verlag.