Utilizing Task Partitioning for Self-Organized Allocation of Partially Sequential Tasks

Nourhan Elsayed; Khaled Al-Wahedi

doi:10.1109/SMC.2015.527

Utilizing Task Partitioning for Self-Organized Allocation of Partially Sequential Tasks

Nourhan Elsayed
, Khaled Al-Wahedi

Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

Task partitioning in multi-robot systems involves breaking down tasks or partitioning them into smaller tasks tackled by different robots in the system. Some of the benefits of this approach is less interference among the individual agents as they become more segregated, an improved scalability, and an improved transport efficiency. This approach allows for a better overall group performance, leads to specialization and AIDS in parallel task execution. In this paper, a new problem involving self-organized task allocation for partially sequential tasks in a two-robot environment is investigated. This partially sequential nature comes from the fact that some tasks are to be executed in a specific order while others can be executed in any order. The two robots are nonidentical. The first is equipped to do all the necessary computations and it has the ability to decide on the optimal order of executing the tasks, let's call him "Brain", while the other has a set of simple behaviors that it keeps following at all times, let's call him "Pinky". There is no explicit communication between the two robots, instead, indirect communication is achieved through the concept of stigmergy.

Original language	British English
Title of host publication	Proceedings - 2015 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3030-3035
Number of pages	6
ISBN (Electronic)	9781479986965
DOIs	https://doi.org/10.1109/SMC.2015.527
State	Published - 12 Jan 2016
Event	IEEE International Conference on Systems, Man, and Cybernetics, SMC 2015 - Kowloon Tong, Hong Kong Duration: 9 Oct 2015 → 12 Oct 2015

Publication series

Name	Proceedings - 2015 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2015

Conference

Conference	IEEE International Conference on Systems, Man, and Cybernetics, SMC 2015
Country/Territory	Hong Kong
City	Kowloon Tong
Period	9/10/15 → 12/10/15

Keywords

Multi Robot Systems
Partially Sequential Tasks
Self-Organized Task Allocation
Stigmergy
Swarm Robotics
Task Allocation
Task Partitioning

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1109/SMC.2015.527

Cite this

Elsayed, N., & Al-Wahedi, K. (2016). Utilizing Task Partitioning for Self-Organized Allocation of Partially Sequential Tasks. In Proceedings - 2015 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2015 (pp. 3030-3035). Article 7379659 (Proceedings - 2015 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SMC.2015.527

Elsayed, Nourhan ; Al-Wahedi, Khaled. / Utilizing Task Partitioning for Self-Organized Allocation of Partially Sequential Tasks. Proceedings - 2015 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2015. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 3030-3035 (Proceedings - 2015 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2015).

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abstract = "Task partitioning in multi-robot systems involves breaking down tasks or partitioning them into smaller tasks tackled by different robots in the system. Some of the benefits of this approach is less interference among the individual agents as they become more segregated, an improved scalability, and an improved transport efficiency. This approach allows for a better overall group performance, leads to specialization and AIDS in parallel task execution. In this paper, a new problem involving self-organized task allocation for partially sequential tasks in a two-robot environment is investigated. This partially sequential nature comes from the fact that some tasks are to be executed in a specific order while others can be executed in any order. The two robots are nonidentical. The first is equipped to do all the necessary computations and it has the ability to decide on the optimal order of executing the tasks, let's call him {"}Brain{"}, while the other has a set of simple behaviors that it keeps following at all times, let's call him {"}Pinky{"}. There is no explicit communication between the two robots, instead, indirect communication is achieved through the concept of stigmergy.",

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Elsayed, N & Al-Wahedi, K 2016, Utilizing Task Partitioning for Self-Organized Allocation of Partially Sequential Tasks. in Proceedings - 2015 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2015., 7379659, Proceedings - 2015 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2015, Institute of Electrical and Electronics Engineers Inc., pp. 3030-3035, IEEE International Conference on Systems, Man, and Cybernetics, SMC 2015, Kowloon Tong, Hong Kong, 9/10/15. https://doi.org/10.1109/SMC.2015.527

Utilizing Task Partitioning for Self-Organized Allocation of Partially Sequential Tasks. / Elsayed, Nourhan; Al-Wahedi, Khaled.
Proceedings - 2015 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2015. Institute of Electrical and Electronics Engineers Inc., 2016. p. 3030-3035 7379659 (Proceedings - 2015 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2015).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Al-Wahedi, Khaled

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N2 - Task partitioning in multi-robot systems involves breaking down tasks or partitioning them into smaller tasks tackled by different robots in the system. Some of the benefits of this approach is less interference among the individual agents as they become more segregated, an improved scalability, and an improved transport efficiency. This approach allows for a better overall group performance, leads to specialization and AIDS in parallel task execution. In this paper, a new problem involving self-organized task allocation for partially sequential tasks in a two-robot environment is investigated. This partially sequential nature comes from the fact that some tasks are to be executed in a specific order while others can be executed in any order. The two robots are nonidentical. The first is equipped to do all the necessary computations and it has the ability to decide on the optimal order of executing the tasks, let's call him "Brain", while the other has a set of simple behaviors that it keeps following at all times, let's call him "Pinky". There is no explicit communication between the two robots, instead, indirect communication is achieved through the concept of stigmergy.

AB - Task partitioning in multi-robot systems involves breaking down tasks or partitioning them into smaller tasks tackled by different robots in the system. Some of the benefits of this approach is less interference among the individual agents as they become more segregated, an improved scalability, and an improved transport efficiency. This approach allows for a better overall group performance, leads to specialization and AIDS in parallel task execution. In this paper, a new problem involving self-organized task allocation for partially sequential tasks in a two-robot environment is investigated. This partially sequential nature comes from the fact that some tasks are to be executed in a specific order while others can be executed in any order. The two robots are nonidentical. The first is equipped to do all the necessary computations and it has the ability to decide on the optimal order of executing the tasks, let's call him "Brain", while the other has a set of simple behaviors that it keeps following at all times, let's call him "Pinky". There is no explicit communication between the two robots, instead, indirect communication is achieved through the concept of stigmergy.

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BT - Proceedings - 2015 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2015

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - IEEE International Conference on Systems, Man, and Cybernetics, SMC 2015

Y2 - 9 October 2015 through 12 October 2015

ER -

Elsayed N, Al-Wahedi K. Utilizing Task Partitioning for Self-Organized Allocation of Partially Sequential Tasks. In Proceedings - 2015 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2015. Institute of Electrical and Electronics Engineers Inc. 2016. p. 3030-3035. 7379659. (Proceedings - 2015 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2015). doi: 10.1109/SMC.2015.527

Utilizing Task Partitioning for Self-Organized Allocation of Partially Sequential Tasks

Abstract

Publication series

Conference

Keywords

UN SDGs

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