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A Study Assessing the Impact of Task Duration on Performance Metrics for Multi-robot Teams

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Towards Autonomous Robotic Systems (TAROS 2020)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 12228))

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Abstract

The allocation of tasks to members of a team is a well-studied problem in robotics. Applying market-based mechanisms, particularly auctions, is a popular solution. We focus on evaluating the performance of the team when executing the tasks that have been allocated. The work presented here examines the impact of one such factor, namely task duration. Building on prior work, a new bidding strategy and performance metric are introduced. Experimental results are presented showing that there are statistically significant differences in both time and distance-based performance metrics when tasks have zero vs greater-than-zero duration.

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Notes

  1. 1.

    The values employed here are: XDC: length = 15 s; XDG: \(\mu =15\) and \(\sigma =3\); XDP: \(\lambda =15\); XDR: range = (5, 35).

  2. 2.

    T is calculated as the predicted travel distance times the average robot velocity, which was determined experimentally to be 0.12 m/s.

  3. 3.

    Using the Shapiro-Wilk test  [13].

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Acknowledgement

This work was conducted while the first author was a masters student in the Department of Informatics at King’s College London, UK. The second author was a professor in the same department and project supervisor.

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Authors and Affiliations

  1. Department of Automatic Control and Systems Engineering, The University of Sheffield, Sheffield, UK

    Genki Miyauchi

  2. Lincoln Institute for Agri-food Technology, University of Lincoln, Lincoln, UK

    Elizabeth I. Sklar

Authors
  1. Genki Miyauchi
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  2. Elizabeth I. Sklar
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Corresponding author

Correspondence to Genki Miyauchi .

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Editors and Affiliations

  1. Faculty of Engineering, University of Nottingham, Nottingham, UK

    Abdelkhalick Mohammad

  2. Faculty of Engineering, University of Nottingham, Nottingham, UK

    Xin Dong

  3. Faculty of Engineering, University of Nottingham, Nottingham, UK

    Matteo Russo

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Miyauchi, G., Sklar, E.I. (2020). A Study Assessing the Impact of Task Duration on Performance Metrics for Multi-robot Teams. In: Mohammad, A., Dong, X., Russo, M. (eds) Towards Autonomous Robotic Systems. TAROS 2020. Lecture Notes in Computer Science(), vol 12228. Springer, Cham. https://doi.org/10.1007/978-3-030-63486-5_17

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  • DOI: https://doi.org/10.1007/978-3-030-63486-5_17

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-63485-8

  • Online ISBN: 978-3-030-63486-5

  • eBook Packages: Computer ScienceComputer Science (R0)

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