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Implementing and Simulating an ALLIANCE-Based Multi-robot Task Allocation Architecture Using ROS

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Robotics (SBR 2016, LARS 2016)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 619))

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Abstract

In this chapter, we discuss the implementation and simulation results of a ALLIANCE-based architecture on Robot Operating System (ROS). In this approach, the system parameters were set empirically and we do not discuss system performance metrics. The focus is implementing the task allocation algorithm. After briefly review MRTA problem, we compare known architectures in some key aspects. Although only simulations validate the ALLIANCE-based approach, system flexibility and adaptivity is notable despite its runs variations.

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Notes

  1. 1.

    But if there is a fault, e.g., a robot suddenly turns off; the team must be able to reassign tasks to complete the mission.

  2. 2.

    In this chapter, since all experiments are simulated, this probability is equal to 1. Even if sensors and robot models includes deviation errors, they never fail completely. But, the architecture covers the real robot case.

  3. 3.

    For the simulated experiments, robots previously know map limits and each of which initial position.

  4. 4.

    Sensors models in the simulator include a standard deviation error.

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Author information

Authors and Affiliations

  1. Federal Institute of Education, Science, and Technology of Rio de Janeiro, IFRJ, Campus Volta Redonda, Volta Redonda, RJ, Brazil

    Wallace Pereira Neves dos Reis

  2. Institute of System Engineering and Information Technology - IESTI, Federal University of Itajubá - UNIFEI, Itajubá, MG, Brazil

    Guilherme Sousa Bastos

Authors
  1. Wallace Pereira Neves dos Reis
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  2. Guilherme Sousa Bastos
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Corresponding author

Correspondence to Wallace Pereira Neves dos Reis .

Editor information

Editors and Affiliations

  1. SSC - Depto. de Sistemas de Computação, USP - University of Sao Paulo (São Carlos), São Carlos, São Paulo, Brazil

    Fernando Santos Osório

  2. UFU – Universidade Federal de Uberlândia , Uberlândia, Minas Gerais, Brazil

    Rogério Sales Gonçalves

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dos Reis, W.P.N., Bastos, G.S. (2016). Implementing and Simulating an ALLIANCE-Based Multi-robot Task Allocation Architecture Using ROS. In: Santos Osório, F., Sales Gonçalves, R. (eds) Robotics. SBR LARS 2016 2016. Communications in Computer and Information Science, vol 619. Springer, Cham. https://doi.org/10.1007/978-3-319-47247-8_13

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  • DOI: https://doi.org/10.1007/978-3-319-47247-8_13

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-47246-1

  • Online ISBN: 978-3-319-47247-8

  • eBook Packages: Computer ScienceComputer Science (R0)

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