A flexible evolutionary algorithm for task allocation in multi-robot team

Department

Department of Computer Science

Was this content written or created while at IBA?

Yes

Document Type

Conference Paper

Publication Date

1-1-2018

Author Affiliation

  • Muhammad Usman Arif is PhD Scholar at the Department of Computer Science, Institute of Business Administration, Karachi
  • Sajjad Haider is Professor at Institute of Business Administration, Karachi

Conference Name

10th International Conference, ICCCI 2018

Conference Location

Bristol, United Kingdom

Conference Dates

5-7 September 2018

ISBN/ISSN

85053155507 (Scopus)

First Page

89

Last Page

99

Publisher

Springer, Cham

Abstract / Description

The paper presents an Evolutionary Algorithm (EA) based framework capable of handling a variety of complex Multi-Robot Task Allocation (MRTA) problems. Equipped with a flexible chromosome structure, customized variation operators, and a penalty function, the EA demonstrates the capability to switch between single-robot and multi-robot cases of MRTA and entertains team heterogeneity. The framework is validated and compared against a Genetic Algorithm based representation and a heuristic-based solution. The experimental results show that the presented EA provides better overall results to the task allocation problem with faster convergence and lesser chances of sub-optimal results.

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