Robot Task Allocation Using Signal Propagation Model
Małgorzata Żabińska, Tomasz Sośnicki, Wojciech Turek, Krzysztof Cetnarowicz · Procedia Computer Science · 2013
The problem of Multi-Robot Task Allocation has received significant attention over last years. The solutions with decentralized decision making have proven better durability than those using centralized planning. In this paper a method which does not use any explicit communication is presented. It is especially suitable for very high dynamics of tasks priorities, when other methods must often perform time-consuming replanning. The method uses a simple model of signal emission and propagation in the environment. Simulation experiments are provided to demonstrate usability and interesting features of the method.