• Title/Summary/Keyword: multi-robot transportation

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Distributed artificial capital market based planning in 3D multi-robot transportation

  • Akbarimajd, Adel;Simzan, Ghader
    • Advances in robotics research
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    • v.1 no.2
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    • pp.171-183
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    • 2014
  • Distributed planning and decision making can be beneficial from the robustness, adaptability and fault tolerance in multi-robot systems. Distributed mechanisms have not been employed in three dimensional transportation systems namely aerial and underwater environments. This paper presents a distributed cooperation mechanism on multi robot transportation problem in three dimensional environments. The cooperation mechanism is based on artificial capital market, a newly introduced market based negotiation protocol. In the proposed mechanism contributing in transportation task is defined as asset. Each robot is considered as an investor who decides if he is going to invest on some assets. The decision is made based on environmental constraint including fuel limitation and distances those are modeled as capital and cost. Simulations show effectiveness of the algorithm in terms of robustness, speed and adaptability.

A combined auction mechanism for online instant planning in multi-robot transportation problem

  • Jonban, Mansour Selseleh;Akbarimajd, Adel;Hassanpour, Mohammad
    • Advances in robotics research
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    • v.2 no.3
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    • pp.247-257
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    • 2018
  • Various studies have been performed to coordinate robots in transporting objects and different artificial intelligence algorithms have been considered in this field. In this paper, we investigate and solve Multi-Robot Transportation problem by using a combined auction algorithm. In this algorithm each robot, as an agent, can perform the auction and allocate tasks. This agent tries to clear the auction by studying different states to increase payoff function. The algorithm presented in this paper has been applied to a multi-robot system where robots are responsible for transporting objects. Using this algorithm, robots are able to improve their actions and decisions. To show the excellence of the proposed algorithm, its performance is compared with three heuristic algorithms by statistical simulation approach.

Task Allocation of Intelligent Warehouse Picking System based on Multi-robot Coalition

  • Xue, Fei;Tang, Hengliang;Su, Qinghua;Li, Tao
    • KSII Transactions on Internet and Information Systems (TIIS)
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    • v.13 no.7
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    • pp.3566-3582
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    • 2019
  • In intelligent warehouse picking system, the allocation of tasks has an important influence on the efficiency of the whole system because of the large number of robots and orders. The paper proposes a method to solve the task allocation problem that multi-robot task allocation problem is transformed into transportation problem to find a collision-free task allocation scheme and then improve the capability of task processing. The task time window and the power consumption of multi-robot (driving distance) are regarded as the utility function and the maximized utility function is the objective function. Then an integer programming formulation is constructed considering the number of task assignment on an agent according to their battery consumption restriction. The problem of task allocation is solved by table working method. Finally, simulation modeling of the methods based on table working method is carried out. Results show that the method has good performance and can improve the efficiency of the task execution.