Integrated Task Allocation and Path Coordination for Large-Scale Robot Networks With Uncertainties

Author(s):  
Zhe Liu ◽  
Huanshu Wei ◽  
Hongye Wang ◽  
Haoang Li ◽  
Hesheng Wang
2018 ◽  
Vol 34 (6) ◽  
pp. 1534-1548 ◽  
Author(s):  
Inmo Jang ◽  
Hyo-Sang Shin ◽  
Antonios Tsourdos

2021 ◽  
Vol 2021 ◽  
pp. 1-12
Author(s):  
Zhihua Zha ◽  
Chaoqun Li ◽  
Jing Xiao ◽  
Yao Zhang ◽  
Hu Qin ◽  
...  

Research on intelligent transportation wireless sensor networks (ITWSNs) plays a very important role in an intelligent transportation system. ITWSNs deploy high-yield and low-energy-consumption traffic remote sensing sensor nodes with complex traffic parameter coordination on both sides of the road and use the self-organizing capabilities of each node to automatically establish the entire network. In the large-scale self-organization process, the importance of tasks undertaken by each node is different. It is not difficult to prove that the task allocation of traffic remote sensing sensors is an NP-hard problem, and an efficient task allocation strategy is necessary for the ITWSNs. This paper proposes an improved adaptive clone genetic algorithm (IACGA) to solve the problem of task allocation in ITWSNs. The algorithm uses a clonal expansion operator to speed up the convergence rate and uses an adaptive operator to improve the global search capability. To verify the performance of the IACGA for task allocation optimization in ITWSNs, the algorithm is compared with the elite genetic algorithm (EGA), the simulated annealing (SA), and the shuffled frog leaping algorithm (SFLA). The simulation results show that the execution performance of the IACGA is higher than EGA, SA, and SFLA. Moreover, the convergence speed of the IACGA is faster. In addition, the revenue of ITWSNs using IACGA is higher than those of EGA, SA, and SFLA. Therefore, the proposed algorithm can effectively improve the revenue of the entire ITWSN system.


2019 ◽  
Vol 2019 ◽  
pp. 1-13 ◽  
Author(s):  
Pengfei Wang ◽  
Ruiyun Yu

Urban crowdsourced transportation, which can solve traffic problem within city, is a new scenario where citizens share vehicles to take passengers and packages while driving. Differing from the traditional location based crowdsourcing system (e.g., crowdsensing system), the task has to be completed with visiting two different locations (i.e., start and end points), so task allocation algorithms in crowdsensing cannot be leveraged in urban crowdsourced transportation directly. To solve this problem, we first prove that maximizing the crowdsourcing system’s profit (i.e., maximizing the total saved distance) is an NP-hard problem. We propose a heuristic greedy algorithm called Saving Most First (SMF) which is simple and effective in assigning tasks. Then, an optimized SMF based genetic algorithm (SMF-GA) is devised to jump out of the local optimal result. Finally, we demonstrate the performance of SMF and SMF-GA with extensive evaluations, based on a large scale real vehicle traces. The evaluation with large scale real dataset indicates that both SMF and SMF-GA algorithms outperform other benchmark algorithms in terms of saved distance, participant profits, etc.


Symmetry ◽  
2020 ◽  
Vol 12 (10) ◽  
pp. 1682
Author(s):  
Qiuzhen Wang ◽  
Xinjun Mao

It is difficult for swarm robots to allocate tasks efficiently by self-organization in a dynamic unknown environment. The computational cost of swarm robots will be significantly increased for large-scale tasks, and the unbalanced task allocation of robots will also lead to a decrease in system efficiency. To address these issues, we propose a dynamic task allocation method of swarm robots based on optimal mass transport theory. The problem of large-scale tasks is solved by grouping swarm robots to complete regional tasks. The task reallocation mechanism realizes the balanced task allocation of individual robots. This paper solves the symmetric assignment between robot and task and between the robot groups and the regional tasks. Our simulation and experimental results demonstrate that the proposed method can make the swarm robots self-organize to allocate large-scale dynamic tasks effectively. The tasks can also be balanced allocated to each robot in the swarm of robots.


2013 ◽  
Vol 36 (1) ◽  
pp. 195-210 ◽  
Author(s):  
Kemal Akkaya ◽  
Izzet F. Senturk ◽  
Shanthi Vemulapalli

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