Message Expiration-Based Distributed Multi-Robot Task Management
This addresses dynamic task management for multi-robot systems, but appears incremental as it builds on existing distributed methods.
The paper tackled the problem of distributed task assignment for multiple robots without prior assignment information by proposing a message expiration-based validation approach, and simulation experiments in the Robotarium verified its validity.
Distributed task assignment for multiple agents raises fundamental and novel control theory and robotics problems. A new challenge is the development of distributed algorithms that dynamically assign tasks to multiple agents, not relying on prior assignment information. This work presents a distributed method for multi-robot task management based on a message expiration-based validation approach. Our approach handles the conflicts caused by a disconnection in the distributed multi-robot system by using distance-based and timestamp-based measurements to validate the task allocation for each robot. Simulation experiments in the Robotarium simulator platform have verified the validity of the proposed approach.