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Assignment and Navigation Framework for Multiple Travelling Robots

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Contemporary Computing (IC3 2011)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 168))

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Abstract

Assignment Problem was well studied in the past 50 years, and is of great value in operations research and engineering. With the growing size of these problems and the new complexities introduced over the years, multi robot task assignment problems have become an important focus of assignment research. The work presented in this paper considers the scenario where multiple destination sites are available. The task of the controller is to assign a robot to each site as soon as possible in such a way so that robots can reach their destination with minimum travelling distance. Efficient algorithms for solving problem of this type have important applications in industries and home automation. Our main contributions are twofold: (a) A wave front based path planning method to compute the cost for the performance of each robot on each target (destination); and (b) An assignment algorithm for the assignment of robots to targets so that the sum of the total cost so obtained is as minimum as possible. The proposed approach has been tested through computer simulation. Experimental results demonstrate that our algorithm runs fast and produces near-optimal solutions on randomly generated instances.

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Author information

Authors and Affiliations

  1. Soft computing and Expert System Laboratory, ABV-Indian Institute of Information Technology and Management, Gwalior, India

    Anshika Pal, Ritu Tiwari & Anupam Shukla

Authors
  1. Anshika Pal
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  2. Ritu Tiwari
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  3. Anupam Shukla
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Editor information

Editors and Affiliations

  1. Iowa State University and IIT Bombay, India, 329 Durham, Ames, IA 5001, Iowa, USA

    Srinivas Aluru

  2. Indian Statistical Institute, 203 B.T. Road, 700 108, Kolkata, West Bengal, India

    Sanghamitra Bandyopadhyay

  3. The Ohio State University, 3190 Graves Hall, 333 W 10th Ave, 43210, Columbus, OH, USA

    Umit V. Catalyurek

  4. Department of Computing Science, Chalmers University, Rännvagen 6B, 412 96, Göteborg, Sweden

    Devdatt P. Dubhashi

  5. Dept. of Electrical and Computer Engineering, Iowa State University, 329 Durham, IA 50011, Ames, USA

    Phillip H. Jones

  6. TASSL, Dept. of Electrical & Computer Engineering, Rutgers, The State University of New Jersey, Brett Road, NJ 08854-8058, Piscataway, USA

    Manish Parashar

  7. School of Computer Engineering, Nanyang Technological University, N4-02a-32 Nanyang Ave, 639798, Singapore

    Bertil Schmidt

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© 2011 Springer-Verlag Berlin Heidelberg

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Pal, A., Tiwari, R., Shukla, A. (2011). Assignment and Navigation Framework for Multiple Travelling Robots. In: Aluru, S., et al. Contemporary Computing. IC3 2011. Communications in Computer and Information Science, vol 168. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-22606-9_50

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  • DOI: https://doi.org/10.1007/978-3-642-22606-9_50

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-22605-2

  • Online ISBN: 978-3-642-22606-9

  • eBook Packages: Computer ScienceComputer Science (R0)

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