Supplementary files for article Distributed Task Rescheduling With Time Constraints for the Optimization of Total Task Allocations in a Multirobot System

Abstract

<p>Supplementary files for article Distributed Task Rescheduling With Time Constraints for the Optimization of Total Task Allocations in a Multirobot System</p><p><br></p><div><div> <div> <strong>Abstract:</strong> <div>This paper considers the problem of maximizing the number of task allocations in a distributed multirobot system under strict time constraints, where other optimization objectives need also be considered. It builds upon existing distributed task allocation algorithms, extending them with a novel method for maximizing the number of task assignments. The fundamental idea is that a task assignment to a robot has a high cost if its reassignment to another robot creates a feasible time slot for unallocated tasks. Multiple reassignments among networked robots may be required to create a feasible time slot and an upper limit to this number of reassignments can be adjusted according to performance requirements. A simulated rescue scenario with task deadlines and fuel limits is used to demonstrate the performance of the proposed method compared with existing methods, the consensus-based bundle algorithm and the performance impact (PI) algorithm. Starting from existing (PI-generated) solutions, results show up to a 20% increase in task allocations using the proposed method.</div><div><br></div><div><p></p> <p> DESCRIPTION: The supplementary table compares the performance of different task allocation algorithms. </p></div></div></div></div