Conference Towards Autonomous Robotic Systems

TAROS 2016: Towards Autonomous Robotic Systems pp 301-313

Evaluating Multi-Robot Teamwork in Parameterised Environments

  • Eric Schneider
  • Elizabeth I. Sklar
  • Simon Parsons
Conference paper

DOI: 10.1007/978-3-319-40379-3_32

Volume 9716 of the book series Lecture Notes in Computer Science (LNCS)
Cite this paper as:
Schneider E., Sklar E.I., Parsons S. (2016) Evaluating Multi-Robot Teamwork in Parameterised Environments. In: Alboul L., Damian D., Aitken J. (eds) Towards Autonomous Robotic Systems. TAROS 2016. Lecture Notes in Computer Science, vol 9716. Springer, Cham

Abstract

The work presented here investigates the impact of certain environmental parameters on the performance of a multi-robot team conducting exploration tasks. Experiments were conducted with physical robots and simulated robots, and a diverse set of metrics was computed. The experiments were structured to highlight several factors: (a) single-robot versus multi-robot tasks; (b) independent versus dependent (or “constrained”) tasks; and (c) static versus dynamic task allocation modes. Four different task allocation mechanisms were compared, in two different exploration scenarios, with two different starting configurations for the robot team. The results highlight the distinctions between parameterised environments (characterised by the factors above, the robots’ starting positions and the exploration scenario) and the effectiveness of each task allocation mechanism, illustrating that some mechanisms perform statistically better in particular environment parameterisations.

Keywords

Multi-robot team Auction mechanism Task allocation 

Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • Eric Schneider
    • 1
  • Elizabeth I. Sklar
    • 2
  • Simon Parsons
    • 2
  1. 1.Department of Computer ScienceUniversity of LiverpoolLiverpoolUK
  2. 2.Department of InformaticsKing’s College LondonLondonUK