Task Allocation in Multi-Robot Systems Based on the Suitability Level of the Individual Agents

摘要

This paper examines task allocation in multi-robot systems in the context where a suitability level of the specialized robots is considered. Based on the assumption that each individual agent possesses specialized functional capabilities and that the expected tasks impose specific requirements, a formulation of the agents' specialization is defined to estimate individual agents' task allocation probabilities. The original task allocation process involves a centralized matching scheme to associate each agent's suitability level with corresponding detected tasks. Then, the task-agent matching scheme is expanded to coordinate the most specialized agent or group of agents while also considering availability factors. Early experimental results are presented and analyzed to demonstrate the effectiveness of the proposed framework.