An interdisciplinary approach to autonomous team-based exploration in disaster scenarios

Gernert, Björn; Schildt, Sebastian; Wolf, Lars; Zeise, Bjorn; Fritsche, Paul; Wagner, Bernd; Fiošins, Maksims; Manesh, Ramin Safar; Müller, Jörg P.

doi:10.1109/ssrr.2014.7017655

Cited by 5 publications

(6 citation statements)

References 20 publications

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“…Regarding the tasks, most of the solutions available in the literature, such as the ones presented in Gernert [7] and Settimi [19], focus only on atomic tasks, unlike our proposal, which comprises other types of tasks as well. Das [3] and Luo [11] are examples of work that deal with subtasks in some way.…”

Section: Related Workmentioning

confidence: 99%

A Decentralised Approach to Task Allocation Using Blockchain

Baségio

Michelin

Zorzo

et al. 2018

Engineering Multi-Agent Systems

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One of the challenges in developing multi-robot systems is the design of appropriate coordination strategies in such a way that robots perform their operations efficiently. In particular, efficient coordination requires judicious task allocation. Without appropriate task allocation, the use of multi-robot systems in complex scenarios becomes limited or even unfeasible. Real-world scenarios usually require the use of heterogeneous robots and task fulfillment with different structures, constraints, and degrees of complexity. In such scenarios, decentralised solutions seem to be appropriate for task allocation, since centralised solutions represent a single point of failure for the system. During the allocation process, in decentralised approaches, there are often communication requirements, as participants need to share information. Maintaining data integrity, resilience, and security in data access are some of the important features for this type of solution. In that direction, we propose an architecture for dynamic and decentralised allocation of tasks built on the idea of having communication and coordination in a multi-agent system through a private blockchain.

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Section: Related Workmentioning

confidence: 99%

A Decentralised Approach to Task Allocation Using Blockchain

Baségio

Michelin

Zorzo

et al. 2018

Engineering Multi-Agent Systems

View full text Add to dashboard Cite

show abstract

“…Most of the approaches aforementioned propose decentralized solutions (with the exception of the works of Flushing et al and Das et al), consider heterogeneous entities and some aspect related to their physical capabilities. The possibility of including new tasks in the course of execution was considered only by Gernert et al and Das et al Das et al assumed that new tasks are considered only in future allocation processes. In the work of Gernert et al, when new tasks are perceived, a new allocation process begins among the robots within communication range.…”

Section: Related Workmentioning

confidence: 99%

“…The possibility of including new tasks in the course of execution was considered only by Gernert et al and Das et al Das et al assumed that new tasks are considered only in future allocation processes. In the work of Gernert et al, when new tasks are perceived, a new allocation process begins among the robots within communication range. Only Das et al mentioned the possibility of adding new robots to a running allocation process.…”

Section: Related Workmentioning

confidence: 99%

“…In the work of Gernert et al, the authors proposed a decentralized mechanism for task allocation along with an architecture that focuses on exploring disaster scenarios. Task allocation follows a simple approach based on an auction, where any robot can carry out any task.…”

Section: Related Workmentioning

confidence: 99%

“…The solutions presented by other works focus specifically on atomic tasks, unlike the approach put forward in this paper, which comprises other types of tasks as well.…”

Section: Related Workmentioning

confidence: 99%

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Allocating structured tasks in heterogeneous agent teams

Baségio

Bordini

2018

Computational Intelligence

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Task allocation is an important aspect of multiagent coordination. However, there are many challenges in developing appropriate strategies for multiagent teams so that they operate efficiently. Real‐world scenarios such as flooding disasters usually require the use of heterogeneous robots and the execution of tasks with different structures and complexities. In this paper, we propose a decentralized task allocation mechanism considering different types of tasks for heterogeneous agent teams where agents play different roles and carry out tasks according to their own capabilities. We have run several experiments to evaluate the proposed mechanism. The results show that the proposed mechanism appears to scale well and provides near‐optimal allocations.

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