Evaluating Multi-Robot Teamwork in Parameterised Environments

  • Eric Schneider
  • Elizabeth I. Sklar
  • Simon Parsons
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 9716)


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.


Multi-robot team Auction mechanism Task allocation 


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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

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