A comparison of deterministic and stochastic approaches for allocating spatially dependent tasks in micro-aerial vehicle collectives

Karthik Dantu, Spring Berman, Bryan Kate, Radhika Nagpal

Research output: Chapter in Book/Report/Conference proceedingConference contribution

16 Scopus citations

Abstract

We compare our previously developed deterministic [7] and stochastic [3], [4] strategies for allocating tasks in robotic swarms1 consisting of very large populations of highly resource-constrained robots. We study our two task allocation approaches in a simulated scenario in which a collective of insect-inspired micro-aerial vehicles (MAVs) must produce a specified spatial distribution of pollination activity over a crop field. We investigate the approaches' requirements, advantages, and disadvantages under realistic conditions of error in robot localization, navigation, and sensing in simulation. Our results show that the deterministic approach, which requires region-based robot navigation, yields higher task progress in all cases. For robots without such navigation capabilities, the stochastic approach is a feasible alternative, and its resulting task progress is less sensitive to error in localization, error in navigation, and a combination of high error in localization, navigation, and sensing.

Original languageEnglish (US)
Title of host publication2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
Pages793-800
Number of pages8
DOIs
StatePublished - Dec 1 2012
Event25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal
Duration: Oct 7 2012Oct 12 2012

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
CountryPortugal
CityVilamoura, Algarve
Period10/7/1210/12/12

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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    Dantu, K., Berman, S., Kate, B., & Nagpal, R. (2012). A comparison of deterministic and stochastic approaches for allocating spatially dependent tasks in micro-aerial vehicle collectives. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012 (pp. 793-800). [6386233] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2012.6386233