Strategy-planned Q-learning Approach for Multi-robot Task Allocation

摘要

In market-based task allocation mechanism, a robot bids for the announced task if it has the ability to perform the task and is not busy with another task. Sometimes a high-priority task may not be performed because all the robots are occupied with low-priority tasks. If the robots have an expectation about future task sequence based-on their past experiences, they may not bid for the low-priority tasks and wait for the high-priority tasks. In this study, a Q-learning-based approach is proposed to estimate the time-interval between high-priority tasks in a multi-robot multi-type task allocation problem. Depending on this estimate, robots decide to bid for a low-priority task or wait for a high-priority task. Application of traditional Q-learning for multi-robot systems is problematic due to non-stationary nature of working environment. In this paper, a new approach, Strategy-Planned Distributed Q-Learning algorithm which combines the advantages of centralized and distributed Q-learning approaches in literature is proposed. The effectiveness of the proposed algorithm is demonstrated by simulations on task allocation problem in a heterogeneous multi-robot system.