Using a sensor network for distributed multi-robot task allocation

Batalin, Maxim; Sukhatme, Gaurav S.

doi:10.1109/robot.2004.1307145

Cited by 44 publications

(21 citation statements)

References 18 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…WSNs can extend the perception of mobile robots by providing environment information, and thus can reduce the complexity of coordinating multiple robots. Batalin et al [3] studied a multi-robot task allocation (MRTA) problem [28], and proposed a Multi Field Distributed In-network Task Allocation (DINTA-MF) algorithm using a pre-deployed static sensor network. In DINTA-MF, the idea is that the WSN computes several assignment fields in the WSN, which then distributes them to different robots using a greedy policy.…”

Section: Mobile Robot Controlmentioning

confidence: 99%

On the Cooperation between Mobile Robots and Wireless Sensor Networks

Shih

Capitán

Marrón

et al. 2014

Studies in Computational Intelligence

View full text Add to dashboard Cite

Abstract. Employing cooperative heterogeneous systems can enrich application scenarios and achieve higher application performance. The combination of mobile robots and Wireless Sensor Networks (WSNs) is a good example of such cooperation, and many recent research results have highlighted the benefits of the marriage of these two technologies. The main objectives of this chapter include: (1) providing a survey on a variety of applications with cooperating mobile robots and WSNs based on the roles they play for interaction, and (2) elaborating different cooperative interactions of robots and WSNs in our ongoing project, PLAtform for the deployment and operation of heterogeneous NETworked cooperating objects (PLANET), which is an integrated framework of heterogeneous cooperative objects for network deployment and operations.

show abstract

Section: Mobile Robot Controlmentioning

confidence: 99%

On the Cooperation between Mobile Robots and Wireless Sensor Networks

Shih

Capitán

Marrón

et al. 2014

Studies in Computational Intelligence

View full text Add to dashboard Cite

show abstract

“…Yet, Stage has a presence at the major research conferences and on university course web pages that suggests it is widely used and useful. For example, at least one paper using Stage for multi-robot simulations has appeared at ICRA, the main annual robotics meeting, every year since its debut in 2001 (Ye et al 2001;Fredslund and Matarić 2002;Batalin and Sukhatme 2003;Shell and Matarić 2004;Batalin and Sukhatme 2004;Lin and Zheng 2005;Batalin and Sukhatme 2005;Chang et al 2006;Busch et al 2007). Only the first of these papers is by an author of Stage.…”

Section: Evidence Of Stage Impactmentioning

confidence: 99%

Massively multi-robot simulation in stage

2008

View full text Add to dashboard Cite

Stage is a C++ software library that simulates multiple mobile robots. Stage version 2, as the simulation backend for the Player/Stage system, may be the most commonly used robot simulator in research and university teaching today. Development of Stage version 3 has focused on improving scalability, usability, and portability. This paper examines Stage's scalability.We propose a simple benchmark for multi-robot simulator performance, and present results for Stage. Run time is shown to scale approximately linearly with population size up to 100,000 robots. For example, Stage simulates 1 simple robot at around 1,000 times faster than real time, and 1,000 simple robots at around real time. These results suggest that Stage may be useful for swarm robotics researchers who would otherwise use custom simulators, with their attendant disadvantages in terms of code reuse and transparency.

show abstract

“…It has also been shown [7] that without domain knowledge about the problem there is no solution that is better than the one provided by greedy algorithms. Following the model in [9], we think of task assignment occurring in decision epochs. A decision epoch is a period of time during which only the tasks which have arrived since the end of the previous epoch are considered for assignment.…”

Section: Task Allocation Algorithmsmentioning

confidence: 99%

Task allocation for event-aware spatiotemporal sampling of environmental variables

Batalin

Sukhatme

Yu³

et al. 2005

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems

Self Cite

View full text Add to dashboard Cite

Abstract-Monitoring of environmental phenomena with embedded networked sensing confronts the challenges of both unpredictable variability in the spatial distribution of phenomena, coupled with demands for a high spatial sampling rate in three dimensions. For example, low distortion mapping of critical solar radiation properties in forest environments may require two-dimensional spatial sampling rates of greater than 10 samples/m 2 over transects exceeding 1000 m 2 . Clearly, adequate sampling coverage of such a transect requires an impractically large number of sensing nodes. A new approach, Networked Infomechanical System (NIMS), has been introduced to combine autonomous-articulated and static sensor nodes enabling sufficient spatiotemporal sampling density over large transects to meet a general set of environmental mapping demands. This paper describes our work on a critical parts of NIMS, the Task Allocation module. We present our methodologies and the two basic greedy Task Allocation policies -based on time of the task arrival (Time policy) and distance from the robot to the task (Distance policy). We present results from NIMS deployed in a forest reserve and from a lab testbed. The results show that both policies are adequate for the task of spatiotemporal sampling, but also complement each other. Finally, we suggest the future direction of research that would both help us better quantify the performance of our system and create more complex policies combining time, distance, information gain, etc.

show abstract

Using a sensor network for distributed multi-robot task allocation

Cited by 44 publications

References 18 publications

On the Cooperation between Mobile Robots and Wireless Sensor Networks

On the Cooperation between Mobile Robots and Wireless Sensor Networks

Massively multi-robot simulation in stage

Task allocation for event-aware spatiotemporal sampling of environmental variables

Contact Info

Product

Resources

About