Message Expiration-Based Distributed Multi-Robot Task Management

01/08/2022

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by   Yikang Gui, et al.

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Distributed task assignment for multiple agents raises fundamental and novel control theory and robotics problems. A new challenge is the development of distributed algorithms that dynamically assign tasks to multiple agents, not relying on prior assignment information. This work presents a distributed method for multi-robot task management based on a message expiration-based validation approach. Our approach handles the conflicts caused by a disconnection in the distributed multi-robot system by using distance-based and timestamp-based measurements to validate the task allocation for each robot. Simulation experiments in the Robotarium simulator platform have verified the validity of the proposed approach.