Consensus-Based Dynamic Task Allocation for Multi-Robot System Considering Payloads Consumption

TL;DR

This paper introduces a consensus-based payload algorithm (CBPA) for multi-robot task allocation that dynamically adjusts to payload consumption, ensuring task requirements are met efficiently in complex, changing environments.

Contribution

The paper proposes an enhanced consensus-based algorithm that incorporates real-time payload tracking and dynamic task allocation for multi-robot systems.

Findings

CBPA outperforms CBBA in total task gains.

CBPA effectively manages payload consumption in dynamic scenarios.

Physical experiments validate CBPA's suitability for complex tasks.

Abstract

This paper presents a consensus-based payload algorithm (CBPA) to deal with the condition of robots' capability decrease for multi-robot task allocation. During the execution of complex tasks, robots' capabilities could decrease with the consumption of payloads, which causes a problem that the robot coalition would not meet the tasks' requirements in real time. The proposed CBPA is an enhanced version of the consensus-based bundle algorithm (CBBA) and comprises two primary core phases: the payload bundle construction and consensus phases. In the payload bundle construction phase, CBPA introduces a payload assignment matrix to track the payloads carried by the robots and the demands of multi-robot tasks in real time. Then, robots share their respective payload assignment matrix in the consensus phase. These two phases are iterated to dynamically adjust the number of robots performing multi-robot tasks and the number of tasks each robot performs and obtain conflict-free results to ensure that the robot coalition meets the demand and completes all tasks as quickly as possible. Physical experiment shows that CBPA is appropriate in complex and dynamic scenarios where robots need to collaborate and task requirements are tightly coupled to the robots' payloads. Numerical experiments show that CBPA has higher total task gains than CBBA.