Request and Share then Assign (RASTA): Task Assignment for Networked Multi-Robot Teams

Sam Friedman, Qi Han
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Abstract

In this paper, we propose an improvement of the Hungarian method to optimally solve the task assignment problem for a multi-robot team. Our proposed method involves all robots collaboratively working together to disseminate cost information and then individually computing an assignment that optimizes a particular global goal. Through theoretical analysis, we show that our approach is able to produce a common optimal assignment, sending significantly fewer messages and resulting in faster convergence than other approaches based on the Hungarian method. Our experimental results back up this claim, demonstrating that, even in the worst case, our approach sends a fraction of the messages required by other assignment methods and as a result scales better as team size increases.
请求和共享然后分配(RASTA):网络化多机器人团队的任务分配
在本文中,我们提出了匈牙利方法的改进,以最优解决多机器人团队的任务分配问题。我们提出的方法涉及所有机器人协同工作以传播成本信息,然后单独计算一个优化特定全局目标的分配。通过理论分析,我们表明我们的方法能够产生一个共同的最优分配,发送更少的消息,并且比基于匈牙利方法的其他方法更快地收敛。我们的实验结果支持了这一说法,表明即使在最坏的情况下,我们的方法发送的信息也只是其他分配方法所要求的一小部分,并且随着团队规模的增加,我们的方法可以更好地扩展。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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