Hierarchically Decentralized Heterogeneous Multi-Robot Task Allocation System
<|reference_start|>Hierarchically Decentralized Heterogeneous Multi-Robot Task Allocation System: With plans to send humans to the Moon and further, the supply of resources like oxygen, water, fuel, etc., can be satiated by performing In-Situ Resource Utilization (ISRU), where resources from the extra-terrestrial body are extracted to be utilized. These ISRU missions can be carried out by a Multi-Robot System (MRS). In this research, a high-level auction- based Multi-Robot Task Allocation (MRTA) system is developed for coordinating tasks amongst multiple robots with distinct capabilities. A hierarchical decentralized coordination architecture is implemented in this research to allocate the tasks amongst the robots for achieving intentional cooperation in the Multi-Robot System (MRS). 3 different policies are formulated that govern how robots should act in the multiple auction situations of the auction-based task allocation system proposed in this research, and their performance is evaluated in a 2D simulation called pyrobosim using ROS2. The decentralized coordination architecture and the auction-based MRTA make the MRS highly scalable, reliable, flexible, and robust.<|reference_end|>
@article{kashid2024hierarchically,
    title={Hierarchically Decentralized Heterogeneous Multi-Robot Task Allocation
  System},
    author={Sujeet Kashid, Ashwin D. Kumat},
    journal={arXiv preprint arXiv:2405.02484},
    year={2024},
    archivePrefix={arXiv},
    eprint={2405.02484},
    primaryClass={cs.RO}
}