Yıl 2017, Cilt 18, Sayı 4, Sayfalar 864 - 875 2017-10-31

EXPERIENCED TASK-BASED MULTI ROBOT TASK ALLOCATION

H. Hilal Ezercan Kayır [1]

131 204

In multi robot system applications, it is possible that the robots transform their past experiences into useful information which will be used for next task allocation processes by using learning-based task allocation mechanisms. The major disadvantages of multi-robot Q-learning algorithm are huge learning space and computational cost due to generalized state and joint action spaces of robots. In this study, experienced task-based multi robot task allocation approach is proposed. According to this approach, robots believe to be experienced about the tasks most frequently done. Robots prefer to do these tasks rather than the inexperienced ones. Then, robots refuse to execute inexperienced tasks over time. This means that the system has reduced learning space. The proposed approach plays a crucial role to achieve required system performance and provides effective solutions to learning space dimensions.  The effectiveness of the proposed algorithm is demonstrated by simulations on multi-robot task allocation problem.

Multi robot task allocation, Multi-agent Q-learning, Adaptive system architecture
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Konular Mühendislik
Dergi Bölümü Araştırma Makalesi
Yazarlar

Yazar: H. Hilal Ezercan Kayır
Kurum: Pamukkale University, Engineering Faculty, Electrical and Electronics Engineering Dept
Ülke: Turkey


Bibtex @araştırma makalesi { aubtda340101, journal = {ANADOLU UNIVERSITY JOURNAL OF SCIENCE AND TECHNOLOGY A - Applied Sciences and Engineering}, issn = {1302-3160}, eissn = {2146-0205}, address = {Eskişehir Teknik Üniversitesi}, year = {2017}, volume = {18}, pages = {864 - 875}, doi = {10.18038/aubtda.340101}, title = {EXPERIENCED TASK-BASED MULTI ROBOT TASK ALLOCATION}, key = {cite}, author = {Ezercan Kayır, H. Hilal} }
APA Ezercan Kayır, H . (2017). EXPERIENCED TASK-BASED MULTI ROBOT TASK ALLOCATION. ANADOLU UNIVERSITY JOURNAL OF SCIENCE AND TECHNOLOGY A - Applied Sciences and Engineering, 18 (4), 864-875. DOI: 10.18038/aubtda.340101
MLA Ezercan Kayır, H . "EXPERIENCED TASK-BASED MULTI ROBOT TASK ALLOCATION". ANADOLU UNIVERSITY JOURNAL OF SCIENCE AND TECHNOLOGY A - Applied Sciences and Engineering 18 (2017): 864-875 <http://dergipark.gov.tr/aubtda/issue/31353/340101>
Chicago Ezercan Kayır, H . "EXPERIENCED TASK-BASED MULTI ROBOT TASK ALLOCATION". ANADOLU UNIVERSITY JOURNAL OF SCIENCE AND TECHNOLOGY A - Applied Sciences and Engineering 18 (2017): 864-875
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EndNote %0 Anadolu Üniversitesi Bilim Ve Teknoloji Dergisi A - Uygulamalı Bilimler ve Mühendislik EXPERIENCED TASK-BASED MULTI ROBOT TASK ALLOCATION %A H. Hilal Ezercan Kayır %T EXPERIENCED TASK-BASED MULTI ROBOT TASK ALLOCATION %D 2017 %J ANADOLU UNIVERSITY JOURNAL OF SCIENCE AND TECHNOLOGY A - Applied Sciences and Engineering %P 1302-3160-2146-0205 %V 18 %N 4 %R doi: 10.18038/aubtda.340101 %U 10.18038/aubtda.340101
ISNAD Ezercan Kayır, H. Hilal . "EXPERIENCED TASK-BASED MULTI ROBOT TASK ALLOCATION". ANADOLU UNIVERSITY JOURNAL OF SCIENCE AND TECHNOLOGY A - Applied Sciences and Engineering 18 / 4 (Ekim 2017): 864-875. http://dx.doi.org/10.18038/aubtda.340101