Sample greedy based task allocation for multiple robot systems

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dc.contributor.authorShin, Hyo-Sang
dc.contributor.authorLi, Teng
dc.contributor.authorLee, Hae-In
dc.contributor.authorTsourdos, Antonios
dc.date.accessioned2022-08-19T10:54:42Z
dc.date.available2022-08-19T10:54:42Z
dc.date.issued2022-08-13
dc.description.abstractThis paper addresses in-schedule dependent task allocation problems for multi-robot systems. One of the main issues with those problems is the inherent NP-hardness of combinatorial optimisation. To handle this issue, this paper develops a decentralised task allocation algorithm by leveraging the submodularity concept and a sampling process of task sets. Our theoretical analysis reveals that the proposed algorithm can provide an approximation guarantee of 1/2 of the optimal solution for the monotone submodular case and 1/4 for the non-monotone submodular case, both with polynomial time complexity. To examine the performance of the proposed algorithm and validate the theoretical analysis, we introduce two task allocation scenarios and perform numerical simulations. The simulation results confirm that the proposed algorithm achieves a solution quality which is comparable to state-of-the-art algorithms in the monotone case and much better quality in the non-monotone case with significantly lower computational complexity.en_UK
dc.identifier.citationShin H-S, Li T, Lee H-I, Tsourdos A. (2022) Sample greedy based task allocation for multiple robot systems. Swarm Intelligence, Volume 16, Issue 3, September 2022, pp. 233-260en_UK
dc.identifier.issn1935-3812
dc.identifier.urihttps://doi.org/10.1007/s11721-022-00213-0
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/18339
dc.language.isoenen_UK
dc.publisherSpringeren_UK
dc.rightsAttribution 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/*
dc.subjecttask allocationen_UK
dc.subjectmulti-robot systemen_UK
dc.subjectapproximation guaranteeen_UK
dc.subjectsubmodularityen_UK
dc.subjectsampling greedyen_UK
dc.titleSample greedy based task allocation for multiple robot systemsen_UK
dc.typeArticleen_UK

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