Various MRTA algorithms were developed as part of the PhD research. This page summarises these algorithms and list the relevant publications for these algorithms. Input data used testing these algorithms (results are shown in the thesis) are also given. I might make the code I developed for these algorithms available under GPL at a later stage. If the links are not shown here, please contact me for the code.
MRPAE: Multi-Robot Parallel Allocation and Execution
A market based distributed ST-SR-IA MRTA algorithm for homogeneous MRS.
Click here to download data used for testing MRPAE algorithm in the thesis.
Relevant publication:
- G. P. Das, T. M. McGinnity, S. A. Coleman, L. Behera, “A dast distributed auction and consensus process using parallel task allocation and execution,” in the Proceedings IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2011, pp.4716-4721, 25-30 Sept. 2011, doi: 10.1109/IROS.2011.6048635 / IEEEXplore / pdf
CBPAE: Consensus Based Parallel Allocation and Execution
A market based distributed ST-SR-IA MRTA algorithm for heterogeneous MRS.
Click here to download data used for testing CBPAE algorithm in the thesis.
Relevant publication:
- G.P. Das, T. M. McGinnity, S. A. Coleman, L. Behera, A distributed task allocation algorithm for a multi-robot system in healthcare facilities, Accepted Journal of Intelligent and Robotic Systems, 2014. doi: 10.1007/s10846-014-0154-2 / Springer / pdf
CeCoTA: Centralised Cooperative Task Allocation
A market based centralised ST-MR-IA MRTA algorithm for heterogeneous MRS. Addresses coalition formation and simultaneous allocations of multiple MR tasks.
Relevant publication:
- G. P. Das, T. M. McGinnity, S. A. Coleman, “Simultaneous allocations of multiple tightly-coupled multi-robot tasks to coalitions of heterogeneous robots,” in the Proceedings of the IEEE International Conference on Robotics and Biomimetics (ROBIO), 2014. doi: 10.1109/ROBIO.2014.7090496 / IEEEXplore / pdf
DiCoTA: Distributed Cooperative Task Allocation
A market based distributed ST-MR-IA MRTA algorithm for heterogeneous MRS. Addresses coalition formation and simultaneous allocations of multiple MR tasks.
Click here to download data used for testing CeCoTA and DiCoTA algorithms in the thesis.
Abbreviations:
- CBPAE: Consensus Based Parallel Allocation and Execution
- CeCoTA: Centralised Cooperative Task Allocation
- DiCoTA: Distributed Cooperative Task Allocation
- IA: Instantaneous Allocation
- MR: Multi-Robot Tasks
- MRPAE: Multi-Robot Parallel Allocation and Execution
- MRS: Multi-Robot System
- MRTA: Multi-Robot Task Allocation
- SR: Single Robot task
- ST: Single Task robot