Research status of multi - robot systems task allocation and uncertainty treatment

Abstract

Abstract. The multi-robot coordination algorithm has become a hot research topic in the field of robotics in recent years. It has a wide range of applications and good application prospects. This paper analyzes and summarizes the current research status of multi-robot coordination algorithms at home and abroad. From task allocation and dealing with uncertainty, this paper discusses the multi-robot coordination algorithm and presents the advantages and disadvantages of each method commonly used. IntroductionMulti-robot systems have become a hot topic of research in the field of robotics. In addition, because of their high fault tolerance and robustness, they are widely used. The multi-robot system still faces problems such as task allocation and resource competition. They are referred to as coordination of teammate robots. Complex problems are divided into a set of sub-problems. The optimization problem is solved by competing and cooperation among robots. The operational capacity is improved. In the study of multi-robot system coordination algorithm, task allocation is an important guarantee for multirobot to complete the task, and it is an important part of task planning. In the multi-robot system, there are many problems such as communication delay, dynamic environment change, sensor precision limit and system component failure. These uncertainties will affect the assignment of multi-robot system tasks, so the research on solving uncertainties is increasingly affected Attention. Therefore, this paper reviews the research of multi-robot systems in the process of exploration and summarizes the latest research trends of multi-robots in cooperation, task allocation and dealing with uncertainty. Task AllocationThe goal of task allocation across a multi-robot system is to maximize the benefits of task execution and to minimize the cost for the entire system. The design goals for task allocation methods are real-time, robustness, reliability, optimization performance, communication requirements, computing requirements, and scale capabilities. There are two ways to distribute the tasks. The first is the way is emergent allocation and the second is intentional cooperative distribution. Emergent allocation is realized coordination by the interaction between each other and through impacts with the environment, which is more suitable for the tasks of large scale multi-robot systems. However, this method cannot predict the behavior of a robot accurately in the system and cannot guarantee the efficiency. Intentional cooperative distribution is achieved through robot display cooperation, easy-to-implement humancomputer interaction, and has the potential to better utilize the capabilities of heterogeneous robotic teams. Intentional cooperative distribution can be divided into centralized distribution and distributed distribution. The centralized allocation has the characteristics of simple structure, strong calculation performance and easy implementation. But it is easy to cause the problem of communication congestion, and dif...

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