Fuzzy task assignment in heterogeneous distributed multi-robot system

Abstract

This study addresses the problem of coordination in cooperative multi-robot systems performing complex tasks. An analysis of cooperative behavior in mobile multi-robot systems in terms of task execution accuracy by heterogeneous robots is carried out. In addition, we evaluate the capacity and compatibility of tasks assigned to robots to optimize task execution without using direct communication with the robots or a central decision-making unit. A model for task selection in heterogeneous distributed multi-robot systems is proposed. It is based on two processes: the first decomposes complex tasks into elementary tasks, and the second assigns elementary tasks to mobile robots for real-time execution. The distribution of elementary tasks is NP-hard, which leads us to recommend approximate solutions. A fuzzy system called Fuzzy Decision Making in Task Selection is proposed, which uses fuzzy logic to solve this problem. This system allows robots to choose to perform any task in the future. An approach is presented that uses two cascading fuzzy systems. The first calculates the utility of the robot and then activates the second fuzzy system to calculate the utility of the task. By using the output of the fuzzy decision system in our model, each robot will be able to decide for itself which tasks to perform. The results of a simulation of mobile robots transporting goods demonstrate the effectiveness of this fuzzy decision-maker.