Abstract
We address the Online Multi-Robot Task Allocation (OMRTA) problem. Our approach relies on a computational and sensing fabric of networked sensors embedded into the environment. This sensor network acts as a distributed sensor and computational platform which computes a solution to OMRTA and directs robots to the vicinity of tasks. We term this Distributed In-Network Task Allocation (DINTA). We describe DINTA, and show its application to multi-robot task allocation in simulation, laboratory, and field settings. We establish that such network-mediated task allocation scales well, and is especially amendable to simple, heterogeneous robots.
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Batalin, M.A., Sukhatme, G.S. (2005). Sensor Network-Mediated Multi-Robot Task Allocation. In: Parker, L.E., Schneider, F.E., Schultz, A.C. (eds) Multi-Robot Systems. From Swarms to Intelligent Automata Volume III. Springer, Dordrecht. https://doi.org/10.1007/1-4020-3389-3_3
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DOI: https://doi.org/10.1007/1-4020-3389-3_3
Publisher Name: Springer, Dordrecht
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