Sensor Network-Mediated Multi-Robot Task Allocation
Abstract
We address the Online Multi-Robot Task Allocation (OMRTA) problem. Our approach relies on a computational and sensing fabric of networked sensors embedded into the environment. This sensor network acts as a distributed sensor and computational platform which computes a solution to OMRTA and directs robots to the vicinity of tasks. We term this Distributed In-Network Task Allocation (DINTA). We describe DINTA, and show its application to multi-robot task allocation in simulation, laboratory, and field settings. We establish that such network-mediated task allocation scales well, and is especially amenable to simple, heterogeneous robots.
Document Details
- Document Type
- Technical Report
- Publication Date
- Mar 01, 2005
- Accession Number
- ADA575682
Entities
People
- Gaurav S. Sukhatme
- Maxim A. Batalin
Organizations
- University of Southern California