Accomplishing a given task by a homogeneous mobile robot group using dynamic role assignment


Accomplishing of complex tasks by a cooperative mobile group requires not only designing perfectly working individual robotic agents, but also programming these agents to work in coordination. In this project, we plan to develop techniques for a homogeneous robot group to accomplish a given task. For this purpose, first behaviors for individual robots will be developed in order to complete their roles. But, some of the tasks may require more than one robot to work in coordination. In this case, each robot should be responsible for a part of the task, they should help each other and should nor interfere with another. In this project, mainly, techniques will be developed to assign roles to individual robots in order to accomplish a given task by a number of robots. Scheduling of a number of tasks is the process of deciding about the order of the tasks and is known as traveling salesman problem. In this project, first we will try to schedule tasks using traveling salesman problem like approaches and then rule-based scheduling and task allocation methods will be used. In order to control the progress of the given task and in the case of a failure to redistribute the roles, a communication protocol will be developed among the team members.


Homogeneous robot group, dynamic role assignment, multi agents, scheduling


Funded by DPT