Task decomposition and distribution method for heterogeneous multi-robotic systems

摘要

Abstract This article presents a method for decomposition and distribution of tasks in a multi-robotic system (MRS). The proposed implementation of the method of elementary operations distribution is based on maximizing the expected efficiency of each agent and collective decision making (CDM). To compare the effectiveness of various methods, computational experiments were carried out. According to the results, the implementation of the CDM mechanisms allows reducing the time for performing a global task by MRS agents by more than 10%. For the initial conditions described in the work, the use of the proposed method for maximizing the individual efficiency of an agent in combination with the CDM algorithm allows reducing the average execution time of a global operation by 21% in comparison with the method of minimizing the individual execution time without CDM.