Self generating task assignment algorithm for multiple mobile robot in transportation task

Akifumi Tokuda, Kazuo Nakazawa

Research output: Contribution to journalArticlepeer-review


Multiple mobile robot system under decentralized control has become more popular because of advantage of fault tolerance and extensibility. This paper focuses on a planning method for an interactive transportation task by multiple mobile robot system. In this task, task assignment is important to solve interaction among mobile robots. In this paper, we propose the self-generating task assignment algorithm in order to realize efficient sorting task. First, we considered parallelism in transportation task. Second. we defined variable of "Progress" in order to estimate value of tasks which can execute independently and in parallel. Using Progress, robots can select executable parallel task and generate task assignment based on efficiency. We developed multi-robot simulator and multi robot system in order to verify the effectiveness.

Original languageEnglish
Pages (from-to)2546-2553
Number of pages8
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number8
Publication statusPublished - 2006 Aug


  • Collaboration
  • Decentralized control
  • Multiple mobile robot
  • Task assignment
  • Transportation task

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


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