An Arrovian view on the multi-robot task allocation problem

Wallace Pereira Neves Dos Reis,Guilherme Sousa Bastos

doi:10.1109/icar.2017.8023622

An Arrovian view on the multi-robot task allocation problem

Wallace Pereira Neves Dos Reis, Guilherme Sousa Bastos

https://doi.org/10.1109/icar.2017.8023622

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Publication Date: Jul 1, 2017

Citations: 24

Affiliation: Federal University of Itajubá, Rio de Janeiro Federal Institute of Education, Science and Technology

#Multi-Robot Task Allocation Problem #Multi-Robot Task Allocation + Show 8 more

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Abstract

This paper aims to analyze the Multi-Robot Task Allocation (MRTA) problem from the perspective of Social Choice Theory. More specifically taking into account the conditions of Arrow's Impossibility Theorem in a robot collective preference aggregation. The scalar utility comparison between two robots becomes impractical with an inexact estimate. As argued by Arrow, the cardinal utility comparison can be replaced by an ordinal comparison. The work also examines two different MRTA problems from this Arrovian view, while establishing Multi-Robot Social Choice and Multi-Robot Social Welfare functions.

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