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International Conference on Control, Automation and Systems (ICCAS 2010)

作者： Kim, Woojin Cho, Dong Soo Kim, H. Jin Seoul Natl Univ Sch Aerosp & Mech Engn Seoul South Korea

ISBN: (纸本)9788993215021

In this paper, we study task assignment strategy for multi-agent systems in which the task space grows sequentially. Many task assignment algorithms are based on the heuristic schemes that result in optimal performance, but in time-varying conditions, real-time assignment techniques are needed. In order to maximize the real-time performance, an auction algorithmis adopted and modified with D* lite algorithm to handle various events and changes of environments. The numerical results show that the proposed approach can be solved in real-time for various scenario and can perform sequential tasks efficiently. The extensions and possible applications of the approach are also discussed.

关键词： Real-time task assignment auction algorithm D* lite

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Competitive Analysis of Repeated Greedy auction algorithm for Online Multi-Robot Task Assignment

Competitive Analysis of Repeated Greedy Auction Algorithm fo...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Luo, Lingzhi Chakraborty, Nilanjan Sycara, Katia Carnegie Mellon Univ Sch Comp Sci Inst Robot Pittsburgh PA 15213 USA

ISBN: (纸本)9781467314053

We study an online task assignment problem for multi-robot systems where robots can do multiple tasks during their mission and the tasks arrive dynamically in groups. Each robot can do at most one task from a group and the total number of tasks a robot can do is bounded by its limited battery life. There is a payoff for assigning each robot to a task and the objective is to maximize the total payoff. A special case, where each group has one task and each robot can do one task is the online maximum weighted bipartite matching problem (MWBMP). For online MWBMP, it is known that, under some assumptions on the payoffs, a greedy algorithm has a competitive ratio of 1/3. Our key result is to prove that for the general problem, under the same assumptions on the payoff as in MWBMP and an assumption on the number of tasks arising in each group, a repeated auction algorithm, where each group of tasks is (near) optimally allocated to the available group of robots has a guaranteed competitive ratio. We also prove that (a) without the assumptions on the payoffs, it is impossible to design an algorithm with any performance guarantee and (b) without the assumption on the task profile, the algorithms that can guarantee a feasible allocation (if one exists) have arbitrarily bad performance in the worst case. Additionally, we present simulation results depicting the average case performance of the repeated greedy auction algorithm.

关键词： Multi-robot assignment Task allocation auction algorithm Online algorithm Competitive analysis

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Time-Sensitive Target Value Sorting Method Based on Improved auction algorithm 10

Time-Sensitive Target Value Sorting Method Based on Improved...

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10th International Conference on Big Data and Information Analytics

作者： Yang Boyu Li Zhimeng Natl Univ Def Technol Coll Syst Engn Changsha Hunan Peoples R China

ISBN: (数字)9798350354621

ISBN: (纸本)9798350354638;9798350354621

In order to solve the problem of rapid construction of the time-sensitive target kill chain, aiming at the requirements of agility and accuracy of the kill chain, the time-sensitive target value index system is proposed, and the workflow of the time-sensitive target kill chain is introduced. Combined with the auction algorithm, the improvement process based on the time-sensitive target value system is designed. The comprehensive sorting of the allocation order based on the combined kill chain is designed to derive the value sorting method of each time-sensitive target, and the feasibility and effectiveness of the method is surfaced through examples.

关键词： kill chain time-sensitive target target sorting method auction algorithm

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Multi-optical sensor cross-communication based on auction algorithm

Multi-optical sensor cross-communication based on auction al...

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Conference on Fiber Optic Sensing and Optical Communication / International Symposium on Optoelectronic Technology and Application (OTA) / Annual Conference of the Chinese-Society-for-Optical-Engineering (CSOE)

作者： Xie Jia-hao Wei Dao-zhi Air Force Engn Univ Grad Coll Xian 710051 Shaanxi Peoples R China Air Force Engn Univ Air & Missile Def Coll Xian 710051 Shaanxi Peoples R China

ISBN: (数字)9781510623415

ISBN: (纸本)9781510623415

For the current multi-optical sensor cross-communications algorithm, the main method is the centralized algorithm. However, this algorithm has the characteristics of complex calculation, low effectiveness. Different types of optical sensors detect the target multi-layer attributes, and based on a predetermined priority sequence, they are finally judged by the global data fusion system, and the level of the target is divided. The target response level function is established by fuzzy algorithm to improve the communication efficiency of the sensor network. Based on the established target response level function, this paper proposes a multi-optical sensor cross-communication algorithm based on auction algorithm. The auction algorithm belongs to a distributed algorithm, and simulation experiments show that the auction algorithm proposed comparing with the centralized algorithm, the auction algorithm has the characteristics of small communication network demand, fast calculation speed, and good convergence and stability of the algorithm.

关键词： Multi-optical sensors Cross-communication algorithm Fuzzy rules Target response level function auction algorithm

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Implementation of an auction algorithm Based Multiple Tasks Allocation Using Mobile Robots

Implementation of an Auction Algorithm Based Multiple Tasks ...

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16th International Symposium on Artificial Life and Robotics (AROB 16th '11)

作者： Su, Kuo-Lan Guo, Jr-Hung Wang, Chun-Chieh Chung, Cheng-Yun Natl Yunlin Univ Sci & Technol Dept Elect Engn Touliu 64002 Yunlin Taiwan Natl Yunlin Univ Sci & Technol Grad Sch Engn Sci & Technol Touliu 64002 Yunlin Taiwan Chien Kuo Technol Univ Dept Elect Engn Changhua Taiwan

ISBN: (纸本)9784990288051

The article uses the ant colony system (ACS) and auction algorithms to solve the path planning and task allocation problems of multiple mobile robots such that the robots can move from different start points to reach to different task points in a collision-free space. Ant colony optimization (ACO) is a new evolvement algorithm that is proposed by Dorigo M., and solves some task allocation and target searching problems. The utilization of the auction algorithm improve the efficiently of the tasks allocation. The article uses three performance functions to compare the cost on the motion displacement and waiting time for mobile robots. In this manner, a near optimal assignment of multiple task points according to a team objective can be obtained using the proposed algorithms. The simulated results present that Ant colony optimization and auction algorithm find the optimization motion path for multiple mobile robots moving to task points from start points in a collision-free environment.

关键词： ant colony system auction algorithm path planning Task allocation multiple mobile robots

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auction algorithm sensitivity for multi-robot task allocation?

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AUTOMATICA 2023年第1期158卷

作者： Clinch, Katie Wood, Tony A. Manzie, Chris Univ New South Wales Sch Comp Sci & Engn Sydney NSW Australia Ecole Polytech Fed Lausanne SYCAMORE Lab Lausanne Switzerland Univ Melbourne Dept Elect & Elect Engn Melbourne Vic 3010 Australia

We consider the problem of finding a low-cost allocation and ordering of tasks between a team of robots in a d-dimensional, uncertain, landscape, and the sensitivity of this solution to changes in the cost *** algorithms have been shown to give a 2-approximation to the MIN$UM allocation problem. By analysing such an auction algorithm, we obtain intervals on each cost, such that any fluctuation of the costs within these intervals will result in the auction algorithm outputting the same solution.& COPY;2023 Published by Elsevier Ltd.

关键词： Sensitivity analysis Robustness auction algorithm Minimum spanning tree Travelling salesman problem Task assignment Approximation algorithm

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A Hybrid Parallel algorithm for the auction algorithm in Multicore Systems 28

A Hybrid Parallel Algorithm for the Auction Algorithm in Mul...

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28th IEEE International Symposium on Computer Architecture and High Performance Computing (SBAC-PAD)

作者： Nascimento, A. P. Vasconcelos, C. N. Jamel, F. S. Sena, A. C. Univ Fed Fluminense Inst Comp Niteroi RJ Brazil Univ Estado Rio De Janeiro Inst Matemat & Estat Rio De Janeiro Brazil

ISBN: (纸本)9781509048441

The bipartite graph matching problem is based on finding a point that maximizes the chances of similarity with another one, and it is explored in several areas such as Bioinformatics and Computer Vision. To solve that matching problem the auction algorithm has been widely used and its parallel implementation is employed to find matching solutions in a reasonable computational time. For example, image analysis may require a large amount of processing, as dense images can have thousands of points to be considered. Furthermore, to exploit the benefits of multicore architectures, a hybrid implementation can be used to deal with communication in both distributed and shared memory. The main goal of this paper is to implement and evaluate the performance of an hybrid parallel auction algorithm for multicore clusters. The experiments carried out analyzes the problem size, the number of iterations to solve the matching and the impact of these parameters in the communication costs and how it affects the execution times.

关键词： auction algorithm clusters multicore bipartite graph matching

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Multi-robot Target Hunting Based on Dynamic Adjustment auction algorithm 13

Multi-robot Target Hunting Based on Dynamic Adjustment Aucti...

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IEEE International Conference on Mechatronics and Automation

作者： Cao, Jinge Li, Min Wang, Zhongya Li, Jie Wang, Hanqing Shanghai Univ Sch Mechatron Engn & Automat Shanghai 200072 Peoples R China

ISBN: (纸本)9781509023967

A combination of dynamic adjustment method and multi-robot task allocation auction algorithm is presented, which is an efficient algorithm to solve task allocation problem of multi-robot cooperative hunting. Firstly, this paper optimizes the auction algorithm which can improve the coordination and negotiation performance in multi-robot system and greatly reduce the amount of communication and computation. Secondly, the concept of strengthen learning is introduced into the auction algorithm to facilitate the dynamic task adjustment after the initially allocation which can adapt to the dynamic surroundings well. At last, experimental results show that the proposed algorithm is effective and the performance is better than other similar tasks allocation algorithms.

关键词： auction algorithm Dynamic adjustment Task allocation

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Multi-robot Dynamic Task Allocation Based on Improved auction algorithm 6

Multi-robot Dynamic Task Allocation Based on Improved Auctio...

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6th International Conference on Automation, Control and Robotics Engineering (CACRE)

作者： Wu, Shiguang Liu, Xiaojie Wang, Xingwei Zhou, Xiaolin Sun, Mingyang Northeastern Univ Sch Comp Sci & Engn Shenyang Peoples R China

ISBN: (纸本)9781665435765

Multi-robot task detection and task execution is an important direction that people have considered recently. We have considered the dynamic issues related to the detection and execution tasks of multiple robots. This paper presents an improved auction algorithm to solve this problem and combines it with the auction algorithm by optimizing the execution capacity utilization and load balancing of the robot. By designing a new auction cost function, the execution ability and load balancing of the robot are added to the auction algorithm, and the matching of the execution ability and task difficulty is added to the assignment of task execution. In addition, we also add a task sequence adjustment mechanism to avoid the redundant loss of the robot due to a lack of global consideration during a single auction. We compare the algorithm with SSI and CBBA. The experimental results show that this method is superior to the existing methods of performance utilization and load balancing.

关键词： Multi-robot System (MRS) Multi-robot Task Allocation (MRTA) auction algorithm Load balance

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A modified auction algorithm for the shortest path problem

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Optimization Methods and Software 1994年第3期4卷 209-224页

作者： Cerulli, R. De Leone, R. Piacente, G. Dipartimento di Informatica e Applicazioni Università di Salemo Salerno Italy Center for Parallel Optimization Computer Sciences Department University of Wisconsin Madison Madison WI53706 1210 West Dayton Street United States Dipartimento di Matematica Universita di Camerino Camerino Italy

A modified auction algorithm for solving the shortest path problem is presented and convergence is established. The proposed method differs from the standard auction algorithm in the way dual variables are updated. By relaxing the dual feasibility requirement we were able to reduce the total number of iterations required by the auction algorithm to compute the shortest path. Computational results show the advantage of this new approach, especially when the number of intermediate nodes in the shortest path from the origin to the destination is large. © 1994, Taylor & Francis Group, LLC. All rights reserved.

关键词： auction algorithm Shortest path

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