A journal of IEEE and CAA , publishes high-quality papers in English on original theoretical/experimental research and development in all areas of automation
Advanced Search
Volume 5 Issue 1
Jan.  2018

IEEE/CAA Journal of Automatica Sinica

  • JCR Impact Factor: 11.8, Top 4% (SCI Q1)
    CiteScore: 17.6, Top 3% (Q1)
    Google Scholar h5-index: 77， TOP 5
Turn off MathJax
Article Contents
Article Navigation >  IEEE/CAA Journal of Automatica Sinica  > 2018  >  5(1): 155-168
Danfeng Wu, Guangping Zeng, Lingguo Meng, Weijian Zhou and Linmin Li, "Gini Coefficient-based Task Allocation for Multi-robot Systems With Limited Energy Resources," IEEE/CAA J. Autom. Sinica, vol. 5, no. 1, pp. 155-168, Jan. 2018. doi: 10.1109/JAS.2017.7510385
Citation: Danfeng Wu, Guangping Zeng, Lingguo Meng, Weijian Zhou and Linmin Li, "Gini Coefficient-based Task Allocation for Multi-robot Systems With Limited Energy Resources," IEEE/CAA J. Autom. Sinica, vol. 5, no. 1, pp. 155-168, Jan. 2018. doi: 10.1109/JAS.2017.7510385
shu

Gini Coefficient-based Task Allocation for Multi-robot Systems With Limited Energy Resources

doi: 10.1109/JAS.2017.7510385
  • 1.

    School of Software, Liaoning Technical University, Huludao 125105, China

  • 2.

    School of Computer and Communication Engineering, University of Science and Technology Beijing, Beijing 100083, China

Funds:

the National High Technology Research and Development Program of China (863 Program) 2015AA015403

the National Natural Science Foundation of China 61404069

the National Natural Science Foundation of China 61401185

the Project of Education Department of Liaoning Province LJYL052

More Information
    Abstract
  • Nowadays, robots generally have a variety of capabilities, which often form a coalition replacing human to work in dangerous environment, such as rescue, exploration, etc. In these operating conditions, the energy supply of robots usually cannot be guaranteed. If the energy resources of some robots are consumed too fast, the number of the future tasks of the coalition will be affected. This paper will develop a novel task allocation method based on Gini coefficient to make full use of limited energy resources of multi-robot system to maximize the number of tasks. At the same time, considering resources consumption, we incorporate the market-based allocation mechanism into our Gini coefficient-based method and propose a hybrid method, which can flexibly optimize the task completion number and the resource consumption according to the application contexts. Experiments show that the multi-robot system with limited energy resources can accomplish more tasks by the proposed Gini coefficient-based method, and the hybrid method can be dynamically adaptive to changes of the work environment and realize the dual optimization goals.

     

    • FullText(HTML)
  • loading
    • References(25)
  • [1]
    J. W. Kwon, "Cooperative environment scans based on a multi-robot system, " Sensors, vol. 15, no. 3, pp. 6483-6496, Mar. 2015. http://www.mdpi.com/1424-8220/15/3/6483/pdf
    [2]
    M. H. Kim, S. P. Kim, and S. Lee, "Social-welfare based task allocation for multi-robot systems with resource constraints, " Comp. Indust. Eng., vol. 63, no. 4, pp. 994-1002, Dec. 2012. https://www.sciencedirect.com/science/article/pii/S036083521200160X
    [3]
    B. P. Gerkey and M. J. Matarić, "A formal analysis and taxonomy of task allocation in multi-robot systems, " Int. J. Robot. Res., vol. 23, no. 9, pp. 939-954, Sep. 2004. doi: 10.1177/0278364904045564
    [4]
    W. Y. Wang and Y. C. Jiang, "Multiagent-based allocation of complex tasks in social networks, " IEEE Trans. Emerg. Top. Comput., vol. 3, no. 4, pp. 571-584, Dec. 2015. http://ieeexplore.ieee.org/document/7050301/
    [5]
    A. Majumder, S. Datta, and K. V. M. Naidu, "Capacitated team formation problem on social networks, " Proc. 18th ACM SIGKDD International Conf. Knowledge Discovery and Data Mining, New York, 2012, pp. 1005-1013. https://www.computer.org/web/csdl/index/-/csdl/trans/bd/2015/01/...
    [6]
    X. Y. Wang, Z. Zhao, and W. Ng, "A comparative study of team formation in social networks, " Lecture Notes in Computer Science, Hanoi, Vietnam, 2015, pp. 389-404. doi: 10.1007/978-3-319-18120-2_23
    [7]
    T. Gunn and J. Anderson, "Effective task allocation for evolving multiRobot teams in dangerous environments, " Proc. 2013 IEEE/WIC/ACM International Joint Conf. Web Intelligence (WI) and Intelligent Agent Technologies (IAT), Atlanta, GA, 2013, pp. 231-238. http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=6690794
    [8]
    T. Gunn and J. Anderson, "Dynamic heterogeneous team formation for robotic urban search and rescue, " J. Comput. Syst. Sci., vol. 81, no. 3, pp. 553-567, May 2015. http://aalab.cs.umanitoba.ca/~andersj/Publications/pdf/GunnANT2013.pdf
    [9]
    P. Lanillos, E. Besada-Portas, J. A. Lopez-Orozco, and J. M. de la Cruz, "Minimum time search in uncertain dynamic domains with complex sensorial platforms, " Sensors, vol. 14, no. 8, pp. 14131-14179, Aug. 2014. http://www.mdpi.com/1424-8220/14/8/14131
    [10]
    L. Vig and J. A. Adams, "Market-based multi-robot coalition formation, " in Distributed Autonomous Robotic Systems, M. Gini and R. Voyles, Eds. Japan:Springer, 2006, pp. 227-236.
    [11]
    B. P. Gerkey and M. J. Matari, "Sold!:Auction methods for multirobot coordination, " IEEE Trans. Rob. Autom., vol. 18, no. 5, pp. 758-768, Oct. 2002. http://ieeexplore.ieee.org/document/1067996/
    [12]
    M. B. Dias and A. Stentz, "A comparative study between centralized, market-based, and behavioral multirobot coordination approaches, " Proc. 2003 IEEE/RSJ International Conf. Intelligent Robots and Systems, Las Vegas, NV, United States, 2003, pp. 2279-2284.
    [13]
    H. L. Choi, L. Brunet, and J. P. How, "Consensus-based decentralized auctions for robust task allocation, " IEEE Trans. Robot., vol. 25, no. 4, pp. 912-926, Aug. 2009.
    [14]
    A. Viguria and A. M. Howard, "An integrated approach for achieving multirobot task formations, " IEEE/ASME Trans. Mech., vol. 14, no. 2, pp. 176-186, Apr. 2009. http://ieeexplore.ieee.org/document/4804625/
    [15]
    Y. Hu, L. Wang, J. Liang, and T. Wang, "Cooperative box-pushing with multiple autonomous robotic fish in underwater environment, " IET Control Theory Appl., vol. 5, no. 17, pp. 2015-2022, Nov. 2011. http://ieeexplore.ieee.org/xpl/abstractKeywords.jsp?reload=true&arnumber=6044598&filter%3DAND%28p_IS_Number%3A6044590%29
    [16]
    R. Zlot and A. Stentz, "Market-based multirobot coordination for complex tasks, " Int. J. Rob. Res., vol. 25, no. 1, pp. 73-101, Jan. 2006. doi: 10.1177/0278364906061160
    [17]
    R. K. Dash, P. Vytelingum, A. Rogers, E. David, and N. R. Jennings, "Market-based task allocation mechanisms for limited-capacity suppliers, " IEEE Trans. Syst. Man Cybern. A, vol. 37, no. 3, pp. 391-405, May 2007. http://ieeexplore.ieee.org/document/4154924/
    [18]
    A. Canedo-Rodriguez, R. Iglesias, C. V. Regueiro, V. Alvarez-Santos, and X. M. Pardo, "Self-organized multi-camera network for a fast and easy deployment of ubiquitous robots in unknown environments, " Sensors, vol. 13, no. 1, pp. 426-454, Dec. 2012. https://www.ncbi.nlm.nih.gov/pubmed/23271604
    [19]
    Z. Butler and J. Hays, "Task allocation for reconfigurable teams, " Robot. Autonom. Syst., vol. 68, pp. 59-71, Jun. 2015. http://www.sciencedirect.com/science/article/pii/S0921889015000196
    [20]
    L. Vig and J. A. Adams, "Multi-robot coalition formation, " IEEE Trans. Robot., vol. 22, no. 4, pp. 637-649, Aug. 2006. http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=1668250
    [21]
    J. Chen and D. Sun, "Resource constrained multirobot task allocation based on leader-follower coalition methodology, " Int. J. Rob. Res., vol. 30, no. 12, pp. 1423-1434, Oct. 2011. doi: 10.1177/0278364910396552
    [22]
    T. Xie and X. Qin, "An energy-delay tunable task allocation strategy for collaborative applications in networked embedded systems, " IEEE Trans. Comput., vol. 57, no. 3, pp. 329-343, Mar. 2008. http://ieeexplore.ieee.org/document/4358254/
    [23]
    Y. C. Wang, W. C. Peng, and Y. C. Tseng, "Energy-balanced dispatch of mobile sensors in a hybrid wireless sensor network, " IEEE Trans. Parallel Distrib. Syst., vol. 21, no. 12, pp. 1836-1850, Dec. 2010. http://ieeexplore.ieee.org/document/5440174/
    [24]
    M. Lukic, A. Barnawi, and I. Stojmenovic, "Robot coordination for energy-balanced matching and sequence dispatch of robots to events, " IEEE Trans. Comput., vol. 64, no. 5, pp. 1416-1428, May 2015. http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6827922&filter%3DAND%28p_IS_Number%3A7079452%29
    [25]
    J. H. Zhang, "An convenient method to calculate Gini coefficient, " J. Shanxi Agric. Univ. (Soc. Sci. Ed.), vol. 6, no. 3, pp. 275-278, 283, Mar. 2007. http://en.cnki.com.cn/Article_en/CJFDTOTAL-SXND200703015.htm
    • Related Articles
    • Supplements(0)

Catalog

    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索

    Figures(8)  / Tables(10)

    Get Citation
    PDF
    XML

    Article Metrics

    Article views (1280) PDF downloads(67) Cited by()

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return