An integrated strategy-based game-theoretic model and decentralized queueing system for mobile multi-robot task coordination

摘要

Autonomous multi-robot systems are restricted by their coordination ability with one another. Coordination entails the simultaneous division of tasks, the assignment of tasks, the formation of teams, the scheduling of tasks, and the routing of tasks. These activities are called task planning. Task planning is essential for the execution of task allocation problems in multi-robot systems. This study investigates the application of a decentralized queuing mechanism for task coordination in the context of mobile robots. Heuristic and strategic coordination strategies are used in developing the proposed system. The completion time and the distance traveled to process a demand are the two metrics used to evaluate the performance of robots in their respective operation field. The robots that used the stochastic queueing strategy achieved competitive results with those of the other robots.