Resilient Task Allocation in Heterogeneous Multi-Robot Systems

09/09/2020
by   Siddharth Mayya, et al.
0

For a multi-robot system equipped with heterogeneous capabilities, this paper presents a mechanism to allocate robots to tasks in a resilient manner when anomalous environmental conditions such as weather events or adversarial attacks affect the performance of robots within the tasks. Our primary objective is to ensure that each task is assigned the requisite level of resources, measured as the aggregated capabilities of the robots allocated to the task. By keeping track of task performance deviations under external perturbations, our framework quantifies the extent to which robot capabilities (e.g., visual sensing or aerial mobility) are affected by environmental conditions. This enables an optimization-based framework to flexibly reallocate robots to tasks based on the most degraded capabilities within each task. In the face of resource limitations and adverse environmental conditions, our algorithm minimally relaxes the resource constraints corresponding to some tasks, thus exhibiting a graceful degradation of performance. Simulated experiments in a multi-robot coverage and target tracking scenario demonstrate the efficacy of the proposed approach.

READ FULL TEXT
POST COMMENT

Comments

There are no comments yet.

Authors

page 1

page 2

page 3

page 4

05/12/2021

A Resilient and Energy-Aware Task Allocation Framework for Heterogeneous Multi-Robot Systems

In the context of heterogeneous multi-robot teams deployed for executing...
03/06/2020

Adaptive Task Allocation for Heterogeneous Multi-Robot Teams with Evolving and Unknown Robot Capabilities

For multi-robot teams with heterogeneous capabilities, typical task allo...
07/01/2020

Achieving Multi-Tasking Robots in Multi-Robot Tasks

One simplifying assumption made in distributed robot systems is that the...
08/04/2020

Resilient Monitoring in Heterogeneous Multi-robot Systems through Network Reconfiguration

We propose a framework for resilience in a networked heterogeneous multi...
11/06/2020

Fast Near-Optimal Heterogeneous Task Allocation via Flow Decomposition

Multi-robot systems are uniquely well-suited to performing complex tasks...
05/09/2021

Adaptive and Risk-Aware Target Tracking with Heterogeneous Robot Teams

We consider a scenario where a team of robots with heterogeneous sensors...
03/13/2019

Cleaning tasks knowledge transfer between heterogeneous robots: a deep learning approach

Nowadays, autonomous service robots are becoming an important topic in r...
This week in AI

Get the week's most popular data science and artificial intelligence research sent straight to your inbox every Saturday.