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A flexible evolutionary algorithm for task allocation in multi-robot team

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), ISSN: 1611-3349, Vol: 11056 LNAI, Page: 89-99
2018
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Conference Paper Description

The paper presents an Evolutionary Algorithm (EA) based framework capable of handling a variety of complex Multi-Robot Task Allocation (MRTA) problems. Equipped with a flexible chromosome structure, customized variation operators, and a penalty function, the EA demonstrates the capability to switch between single-robot and multi-robot cases of MRTA and entertains team heterogeneity. The framework is validated and compared against a Genetic Algorithm based representation and a heuristic-based solution. The experimental results show that the presented EA provides better overall results to the task allocation problem with faster convergence and lesser chances of sub-optimal results.

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