A Flexible Evolutionary Algorithm for Task Allocation in Multi-robot Team

被引：6
|
作者：
Arif, Muhammad Usman [1 ]
Haider, Sajjad [1 ]
机构：
[1] Inst Business Adm, Artificial Intelligence Lab, Fac Comp Sci, Karachi, Pakistan
来源：
COMPUTATIONAL COLLECTIVE INTELLIGENCE, ICCCI 2018, PT II | 2018年 / 11056卷
关键词：
Multi-robot task allocation; Multi-robot systems; Multi-agent systems; Evolutionary Algorithm;
D O I：
10.1007/978-3-319-98446-9_9
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
The paper presents an Evolutionary Algorithm (EA) based framework capable of handling a variety of complex Multi-Robot Task Allocation (MRTA) problems. Equipped with a flexible chromosome structure, customized variation operators, and a penalty function, the EA demonstrates the capability to switch between single-robot and multi-robot cases of MRTA and entertains team heterogeneity. The framework is validated and compared against a Genetic Algorithm based representation and a heuristic-based solution. The experimental results show that the presented EA provides better overall results to the task allocation problem with faster convergence and lesser chances of sub-optimal results.
引用
收藏
页码：89 / 99
页数：11
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