The DOI matches its Crossref record; 3 of the 3 references it cites were found in a registry or an index.
A Formal Analysis and Taxonomy of Task Allocation in Multi-Robot Systems
Abstract
Despite more than a decade of experimental work in multi-robot systems, important theoretical aspects of multi-robot coordination mechanisms have, to date, been largely untreated. To address this issue, we focus on the problem of multi-robot task allocation (MRTA). Most work on MRTA has been ad hoc and empirical, with many coordination architectures having been proposed and validated in a proof-of-concept fashion, but infrequently analyzed. With the goal of bringing objective grounding to this important area of research, we present a formal study of MRTA problems. A domain-independent taxonomy of MRTA problems is given, and it is shown how many such problems can be viewed as instances of other, well-studied, optimization problems. We demonstrate how relevant theory from operations research and combinatorial optimization can be used for analysis and greater understanding of existing approaches to task allocation, and to show how the same theory can be used in the synthesis of new approaches.
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Cites
The Hungarian method for the assignment problem
Kuhn, H. W. (1955) · Naval Research Logistics Quarterly · doi:10.1002/nav.3800020109 · Cited by 13,120
A robust layered control system for a mobile robot
Brooks, R. (1986) · IEEE Journal on Robotics and Automation · doi:10.1109/jra.1986.1087032 · Cited by 7,799 · cited 2×
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Cited by
Swarm Robotics: Past, Present, and Future [Point of View]
Dorigo, M., Theraulaz, G., & Trianni, V. (2021) · Proceedings of the IEEE · doi:10.1109/jproc.2021.3072740 · Cited by 431
Automated guided vehicle systems, state-of-the-art control algorithms and techniques
De Ryck, M., Versteyhe, M., & Debrouwere, F. (2020) · Journal of Manufacturing Systems · doi:10.1016/j.jmsy.2019.12.002 · Cited by 380
A taxonomy for task allocation problems with temporal and ordering constraints
Nunes, E., Manner, M., Mitiche, H., & Gini, M. (2017) · Robotics and Autonomous Systems · doi:10.1016/j.robot.2016.10.008 · Cited by 252
Evolution of Self-Organized Task Specialization in Robot Swarms
Ferrante, E., Turgut, A. E., Duéñez-Guzmán, E., Dorigo, M., & Wenseleers, T. (2015) · PLOS Computational Biology · doi:10.1371/journal.pcbi.1004273 · Cited by 123
Open Problems in Cooperative AI
Dafoe, A., Hughes, E., Bachrach, Y., Collins, T., McKee, K. R., Leibo, J. Z., Larson, K., & Graepel, T. (2020) · arXiv · doi:10.48550/arxiv.2012.08630 · Cited by 93
Metadata
- Authors
- Gerkey, B. P., & Matarić, M. J.
- Venue
- The International Journal of Robotics Research
- Publisher
- SAGE Publications
- Published
- 2004-09
- Volume
- 23
- Issue
- 9
- Pages
- 939-954
- ISSN
- 0278-3649 (ISSN-L)
- 1741-3176
- OpenAlex
- W2157488300
- Cited by
- 1,753
- References
- 3
- FWCI
- 45.56
- Type
- journal article
- Language
- en
- Open access
- closed
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