An Efficient Distributed Task Allocation Method for Maximizing Task Allocations of Multirobot Systems

Abstract

This paper addresses the distributed task allocation problem for maximizing the total number of successfully executed tasks of multirobot systems. Due to the deadline time of tasks and fuel limits of robotic vehicles, not all tasks can be successfully executed sometimes. Based on the performance impact (PI) algorithm, an effective and efficient performance impact (EEPI) algorithm is proposed, its novelty lies in its cost function and task release procedure. The fundamental ideas of the proposed cost function are as follows. First, the traveling time from the initial position of each vehicle to the positions of its tasks is minimized, so that more time can be left for the vehicle to execute more tasks due to the limited fuel. Second, the start time of each task should be close enough to its deadline, so that tasks with earlier deadlines can be assigned earlier than those with later deadlines. To avoid invalid removal performance impacts (RPIs) and inclusion performance impacts (IPIs), the tasks assigned to a vehicle are all released if the number of tasks removed by the vehicle during the task removal phase is the most, which further increases the total number of successfully executed tasks. Both simulations and hardware-in-the-loop experiments suggest that compared with the state-of-the-art distributed task allocation algorithms, the proposed EEPI is not only effective in maximizing the number of successfully executed tasks but efficient in saving the number of iterations and time to converge. <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Note to Practitioners</i> —This work was motivated by the limitations of the existing distributed task allocation algorithms for maximizing the total number of successfully executed tasks. The consensus-based bundle algorithm (CBBA) has been proven to guarantee convergence and 50% optimality under the diminishing marginal gain (DMG) assumption in previously published works. Based on CBBA, a performance impact (PI) algorithm was proposed, and simulations show that it can assign more tasks than CBBA when applied to time-critical scenarios with low task-to-vehicle ratios. Starting from the results of PI, a rescheduling method named PI for maximizing assignments (PI-maxAss) was proposed, which has been demonstrated to assign more tasks than PI with high task-to-vehicle ratios. However, much more iterations and time are required by PI-maxAss to converge to globally consistent assignments because of the rescheduling. Due to the above considerations, an effective and efficient performance impact (EEPI) algorithm is proposed in this paper to maximize the number of successfully executed tasks without any rescheduling. Both simulations and hardware-in-the-loop experiments suggest that compared with the algorithms mentioned above, the proposed EEPI is effective in maximizing the number of successfully executed tasks and efficient in saving the number of iterations and time to converge. In future work, the distributed task allocation problem in which several vehicles execute a task at the same time cooperatively or a vehicle executes several tasks simultaneously will be further addressed.