Particle Swarm Optimization for Cooperative Multi Robot Task Allocation: A Multi Objective Approach
This letter presents a new Multi Objective Particle Swarm Optimization (MOPSO) approach to a Cooperative Multi Robot Task Allocation (CMRTA) problem, where the robots have to minimize the total team cost and, additionally, balance their workloads. We formulate the CMRTA problem as a more complex variant of multiple Travelling Salesman Problems (mTSP) and, in particular, address how to minimize the total travel distance of the entire robot team, as well as how to minimize the highest travel distance of an individual robot. The proposed approach extends the standard single objective Particle Swarm Optimization (PSO) to cope with the multiple objectives, and its novel feature lies in a Pareto front refinement strategy and a probability based leader selection strategy. To validate the proposed approach, we first use three benchmark functions to evaluate the performance of finding the true Pareto fronts in comparison with four existing well known algorithms in continuous spaces. Afterwards, we use six datasets to investigate the task allocation mechanisms in dealing with the CMRTA problem in discrete spaces.
IEEE Robotics and Automation Letters