Coalition Formation for Multi-Robot Task Allocation via Correlation Clustering
Document Type
Article
Publication Date
11-17-2019
Abstract
The complexity of a vast number of real world tasks provides a great challenge for the currently available robots due to their limited capabilities. Thus, multiple robots would need to form coalitions for the completion of such tasks. In this paper, we examine the multi-robot coalition formation problem for task allocation where a group of robots needs to be allocated to a set of tasks. Our approach for this problem is to use a correlation clustering technique enabling similar robots to form coalitions. The algorithm presented in this paper is fast and scales better in comparison to two existing algorithms.
Publication Title
Cybernetics and Systems
Volume
50
Issue
8
First Page
711
Last Page
728
Digital Object Identifier (DOI)
10.1080/01969722.2019.1677334
ISSN
01969722
E-ISSN
10876553
Citation Information
Dutta, A., Ufimtsev, V., Asaithambi, A., Czarnecki, E. (2019) Coalition Formation for Multi-Robot Task Allocation via Correlation Clustering. Cybernetics and Systems 50(8), 711-728.