Modified meta-heuristic optimization algorithms based multi objective

optimization for multi-robot task allocation

Summary
One of the key issues in robots group is an optimal and efficient task allocation among
them, In order to achieve the smooth operations of multi-robot systems. The problem of
allocating of the available resources to tasks is computationally complex, where this
computational complexity rises if the tasks increase in number. This problem is mainly
called multi-robot coalition formation (MRCF). For solving this problem, genetic
algorithm (GA) based different approaches have been employed. There are many GA
based approached and the dynamic GA variants to solve MRCF. However, none of them
have considered the time and energy consumption indicators for evaluating the
effectiveness of the task completion in multi-robot system. Therefore, in this proposal,
based on time and energy consumption indicators, I will propose a multi-robot task
assignment method based on multi objective optimization (MOO) for multi robot task
allocation strategy. This strategy will provide the definition of the robotic energy
consumption function. It will also give a task allocation model based on MOO. MOO will
perform based on novel meta heuristic optimization algorithm. At the end, to validate and
verify the effectiveness of the proposed method, the RoboCup Rescue simulation
experiments will be performed.

Introduction
For completing a target task in the cooperation with multiple robots, in addition with the
consideration of the cost of time needed by a robot to complete the task, the energy
utilization of a robot in the process of completing the task is also important [1]. The
allocation of the tasks in multi-robot systems is a key issue to be considered. Many
approaches were proposed for multi-robot task allocation (MRTA) problem, and the most
of them assumed that tasks are indivisible and each single task can be completed by a
single robot [2]. On the other hand, practically, a single task may consist of many other
sub tasks, which requires the employment of different robots. Therefore, robots in multi
robot systems in order to complete these types of tasks, they may require to coordinate

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and cooperate with each other i.e, a sub set or group of robots forms a coalition in order
to complete a task. Coalition in robots groups is the combinations of these robots to make
a team [3]. This problem is called multi robot coalition formation (MRCF) problem [4].
Along with the consideration of MRCF, the time and energy consumption of a robot
while performing a task are very crucial. However, energy and time utilization are the
conflicting and incomparable factors [5]. Hence, in order to consider MRTA more
systematically, it is necessary to consider the time and energy consumption indicators. In
[6], the authors first present the definition of energy consumption function and its
construction process, then, they present the internal relationship between the energy and
time consumption while completing a task. The MRTA problem is a multi objective
optimization (MOO) problem, when both energy and time utilization are considered [7],
they have done with MOO-MRTA problem using genetic algorithm (GA) and particle
swarm optimization techniques. In [8], for solving MRTA problem, the GA is used.
However, both of the recently mentioned references used evolutionary algorithms for
solving MOO-MRTA and MRTA respectively, which are the older techniques, some
novel meta heuristic optimization algorithms can be used in this regard for achieving the
more better results in terms MOO-MRTA problem. Therefore, A MOO-MRTA problem
is considered in this proposal in order to make some improvement and betterment in
achieving MOO-MRTA problem using some novel meta heurist techniques, and the
performance of the proposed noevl optimization technique is verified by RoboCup rescue
simulations.

Challenges in task allocation in multi robot systems

There are many challenges in MRTA, some of them are mentioned below:

 Optimal task allocation in multi robot systems

 MRCF
 Algorithms’ performance while solving MOO-MRTA
 Time consideration for evaluating the effectiveness in multi robot systems
 Energy consideration for evaluating the effectiveness in multi robot systems

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Problems to be targeted
Initially, I am interested in “Novel and modified meta heuristic algorithms based
multi objective optimization for multi robot task allocation” further research is
necessary into the topic area, so as to consider as many approaches to the problem as
possible and thereby be able to develop a system that is superior to existing ones.
Development of a strategy for the optimization of the MOO-MRTA, which will lead to
have an optimized MOO-MRTA in multi robot systems.
The MRTA problem is a multi objective optimization (MOO) problem, when both energy
and time utilization are considered [7], they have done with MOO-MRTA problem using
genetic algorithm (GA) and particle swarm optimization techniques. In [8], for solving
MRTA problem, the GA is used. However, both of the recently mentioned references
used evolutionary algorithms for solving MOO-MRTA and MRTA respectively, which
are the older techniques, some novel meta heuristic optimization algorithms can be used
in this regard for achieving the more better results in terms MOO-MRTA problem.
Therefore, a MOO-MRTA problem is considered in this proposal in order to make some
improvement and betterment in achieving MOO-MRTA problem using some novel meta
heurist techniques.

Methodology
Novel and modified meta heuristic algorithms will be employed for optimal MOO-
MRTA. The performance of the proposed novel optimization technique will be verified
by RoboCup rescue simulations. In this proposal, optimization of MOO-MRTA in multi
robot systems will be considered.

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References
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task allocation in a multi-robot system." Engineering Applications of Artificial
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