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Authors: Angelica Muñoz-Meléndez 1 ; Pritviraj Dasgupta 2 and William Lenagh 2

Affiliations: 1 National Institute of Astrophysics, Optics, and Electronics and University of Nebraska at Omaha, Mexico ; 2 University of Nebraska at Omaha, United States

Keyword(s): Robot Team, Task Allocation, Demand, Stochastic Queue.

Related Ontology Subjects/Areas/Topics: Artificial Intelligence ; Autonomous Agents ; Collective and Social Robots ; Distributed Control Systems ; Formal Methods ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Planning and Scheduling ; Robotics and Automation ; Simulation and Modeling ; Symbolic Systems

Abstract: A central problem in multi-robot systems is to solve the multi-robot task allocation problem. In this paper, a decentralized stochastic model based on stochastic queueing processes is applied for an application of collective detection of underground landmines where the robots are not told the distribution or number of landmines to be encountered in the environment. Repeat demands of inspection in the environment to ensure the accuracy of robot findings are necessary in this application. The proposed model is based on the estimation of a stochastic queue of pending demands that represents the alternatives of action for a robot and is used to negotiate possible conflicts with other robots. We compare and contrast this method with a decentralized greedy approach based on the distance towards the sites where inspection demands are required. Experimental results obtained using simulated robots in the Webots c environment are presented. The performance of robots is measured in terms of tw o metrics, completion time and distance traveled for processing a demand. Robots applying the stochastic queueing model obtained competitive results. (More)

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Paper citation in several formats:
Muñoz-Meléndez, A.; Dasgupta, P. and Lenagh, W. (2012). A Stochastic Queueing Model for Multi-robot Task Allocation. In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-8565-21-1; ISSN 2184-2809, pages 256-261. DOI: 10.5220/0004049102560261

@conference{icinco12,
author={Angelica Muñoz{-}Meléndez. and Pritviraj Dasgupta. and William Lenagh.},
title={A Stochastic Queueing Model for Multi-robot Task Allocation},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2012},
pages={256-261},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004049102560261},
isbn={978-989-8565-21-1},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - A Stochastic Queueing Model for Multi-robot Task Allocation
SN - 978-989-8565-21-1
IS - 2184-2809
AU - Muñoz-Meléndez, A.
AU - Dasgupta, P.
AU - Lenagh, W.
PY - 2012
SP - 256
EP - 261
DO - 10.5220/0004049102560261