scholarly journals Dynamic Task Allocation Method of Swarm Robots Based on Optimal Mass Transport Theory

Symmetry ◽  
2020 ◽  
Vol 12 (10) ◽  
pp. 1682
Author(s):  
Qiuzhen Wang ◽  
Xinjun Mao
Keyword(s):  
Mass Transport ◽  
Task Allocation ◽  
Large Scale ◽  
Transport Theory ◽  
Optimal Mass Transport ◽  
Dynamic Task ◽  
Allocation Method ◽  
Swarm Robots ◽  
Dynamic Task Allocation ◽  
Mass Transport Theory

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.

scholarly journals Vector and Matrix Optimal Mass Transport: Theory, Algorithm, and Applications

2018 ◽  
Vol 40 (5) ◽  
pp. A3675-A3698 ◽  
Author(s):  
Ernest K. Ryu ◽  
Yongxin Chen ◽  
Wuchen Li ◽  
Stanley Osher
Keyword(s):  
Mass Transport ◽  
Transport Theory ◽  
Optimal Mass Transport ◽  
Mass Transport Theory

scholarly journals An optimal mass transport approach for limits of eigenvalue problems for the fractional p-Laplacian

2015 ◽  
Vol 4 (3) ◽  
pp. 235-249 ◽  
Author(s):  
Leandro Del Pezzo ◽  
Julio Rossi ◽  
Nicolas Saintier ◽  
Ariel Salort
Keyword(s):  
Mass Transport ◽  
Boundary Conditions ◽  
Eigenvalue Problems ◽  
Transport Theory ◽  
Neumann Boundary ◽  
Neumann Boundary Conditions ◽  
Optimal Mass Transport ◽  
Mass Transport Theory ◽  
Laplacian Operators ◽  
Transport Approach

AbstractWe find an interpretation using optimal mass transport theory for eigenvalue problems obtained as limits of the eigenvalue problems for the fractional p-Laplacian operators as p → +∞. We deal both with Dirichlet and Neumann boundary conditions.

scholarly journals Auction-Based Consensus of Autonomous Vehicles for Multi-Target Dynamic Task Allocation and Path Planning in an Unknown Obstacle Environment

2021 ◽  
Vol 11 (11) ◽  
pp. 5057
Author(s):  
Wan-Yu Yu ◽  
Xiao-Qiang Huang ◽  
Hung-Yi Luo ◽  
Von-Wun Soo ◽  
Yung-Lung Lee
Keyword(s):  
Path Planning ◽  
Task Allocation ◽  
Autonomous Vehicles ◽  
Autonomous Vehicle ◽  
Dynamic Task ◽  
The Core ◽  
Dynamic Task Allocation ◽  
Vehicle Technology ◽  
Future Work ◽  
Complicated Task

The autonomous vehicle technology has recently been developed rapidly in a wide variety of applications. However, coordinating a team of autonomous vehicles to complete missions in an unknown and changing environment has been a challenging and complicated task. We modify the consensus-based auction algorithm (CBAA) so that it can dynamically reallocate tasks among autonomous vehicles that can flexibly find a path to reach multiple dynamic targets while avoiding unexpected obstacles and staying close as a group as possible simultaneously. We propose the core algorithms and simulate with many scenarios empirically to illustrate how the proposed framework works. Specifically, we show that how autonomous vehicles could reallocate the tasks among each other in finding dynamically changing paths while certain targets may appear and disappear during the movement mission. We also discuss some challenging problems as a future work.

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