{"675220":{"#nid":"675220","#data":{"type":"event","title":"PhD Defense by Shengkang Chen","body":[{"value":"\u003Cp\u003E\u003Cstrong\u003ETitle:\u0026nbsp;\u003C\/strong\u003EDistributed Heterogeneous Multi-robot Task Allocation in Communication-limited Environments\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003EDate:\u0026nbsp;\u003C\/strong\u003EMonday, July 1, 2024\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003ETime:\u0026nbsp;\u003C\/strong\u003E3:00 PM \u2013 5:00PM EST\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003ELocation:\u0026nbsp;\u003C\/strong\u003ETechnology Square Research Building (TSRB)\u0026nbsp;523A\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003EVirtual Link:\u0026nbsp;\u003C\/strong\u003E\u003Ca href=\u0022https:\/\/teams.microsoft.com\/l\/meetup-join\/19%3ameeting_ZDdjMjNjMmEtMTk3Zi00MzQxLWJkYjAtMzg1NTA1OTAyYWQy%40thread.v2\/0?context=%7b%22Tid%22%3a%22482198bb-ae7b-4b25-8b7a-6d7f32faa083%22%2c%22Oid%22%3a%22c59d0dbd-0129-4bad-b7a1-d8d78517fe90%22%7d\u0022 title=\u0022https:\/\/teams.microsoft.com\/l\/meetup-join\/19%3ameeting_ZDdjMjNjMmEtMTk3Zi00MzQxLWJkYjAtMzg1NTA1OTAyYWQy%40thread.v2\/0?context=%7b%22Tid%22%3a%22482198bb-ae7b-4b25-8b7a-6d7f32faa083%22%2c%22Oid%22%3a%22c59d0dbd-0129-4bad-b7a1-d8d78517fe90%22%7d\u0022\u003E\u003Cstrong\u003Ehttps:\/\/teams.microsoft.com\/l\/meetup-join\/19%3ameeting_ZDdjMjNjMmEtMTk3Zi00MzQxLWJkYjAtMzg1NTA1OTAyYWQy%40thread.v2\/0?context=%7b%22Tid%22%3a%22482198bb-ae7b-4b25-8b7a-6d7f32faa083%22%2c%22Oid%22%3a%22c59d0dbd-0129-4bad-b7a1-d8d78517fe90%22%7d\u003C\/strong\u003E\u003C\/a\u003E\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003EShengkang Chen\u003C\/strong\u003E\u003C\/p\u003E\u003Cp\u003ERobotics\u0026nbsp;PhD\u0026nbsp;Candidate\u003C\/p\u003E\u003Cp\u003ESchool of Electrical and Computer Engineering\u003C\/p\u003E\u003Cp\u003EGeorgia Institute of Technology\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003ECommittee:\u003C\/strong\u003E\u003C\/p\u003E\u003Cp\u003EDr. Fumin Zhang (Co-Advisor) \u2013 School of Electrical and Computer Engineering, Georgia Institute of Technology\u003C\/p\u003E\u003Cp\u003EDr. Ronald C. Arkin (Co-Advisor) \u2013 School of Interactive Computing, Georgia Institute of Technology\u003C\/p\u003E\u003Cp\u003EDr. Seth A. Hutchinson \u2013 School of Interactive Computing, Georgia Institute of Technology\u003C\/p\u003E\u003Cp\u003EDr. Mathew C. Gombolay \u2013 School of Interactive Computing, Georgia Institute of Technology\u003C\/p\u003E\u003Cp\u003EDr. Jason L. Williams \u2013\u0026nbsp;\u0026nbsp;Director of Sensor Fusion, Whipbird Signals\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003EAbstract:\u0026nbsp;\u003C\/strong\u003E\u003C\/p\u003E\u003Cp\u003EEffective multi-robot coordination for heterogeneous multi-robot systems to complete a wide range of missions. Multi-robot task allocation (MRTA), a key component in multi-robot coordination, aims to find the appropriate assignments between robots and tasks. Considering that communication can be unreliable or limited in real-world settings, it is important to develop robust task allocation strategies that can function under these constraints.\u0026nbsp;\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003EThis dissertation introduces two heterogeneous task allocation approaches for different scenarios leveraging the Speeding-Up and Slowing-Down (SUSD) strategy. The SUSD strategy, a derivative-free optimization technique, achieves convergence in the direction of the gradient through local function evaluations only. Since MRTA can be treated as an integer programming problem with ill-defined gradients, SUSD is a suitable tool to search for solutions since it does not need explicit gradient calculations.\u0026nbsp;\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003EIn the first scenario, each task in the task allocation can be completed by a single robot, with a base station also available. We present a hybrid SUSD-based task allocation algorithm combining a market-based algorithm with the SUSD strategy to improve the results from the market-based algorithm.\u0026nbsp; In the second scenario, we address a complex task allocation scenario where multiple robots cooperatively complete each task, and each robot can select multiple tasks. To avoid a complex coordination mechanism, we formulate the task allocation problem as a task allocation game. In the task allocation game, robots only share their task selections with others and update their task selection to minimize their individual costs. We have developed a new distributed task selection algorithm based on the SUSD strategy to allow robots to converge toward a Nash equilibrium.\u003C\/p\u003E","summary":"","format":"limited_html"}],"field_subtitle":"","field_summary":[{"value":"\u003Cp\u003EDistributed Heterogeneous Multi-robot Task Allocation in Communication-limited Environments\u003C\/p\u003E","format":"limited_html"}],"field_summary_sentence":[{"value":"Distributed Heterogeneous Multi-robot Task Allocation in Communication-limited Environments"}],"uid":"27707","created_gmt":"2024-06-24 20:22:06","changed_gmt":"2024-06-24 20:22:06","author":"Tatianna Richardson","boilerplate_text":"","field_publication":"","field_article_url":"","field_event_time":{"event_time_start":"2024-07-01T15:00:00-04:00","event_time_end":"2024-07-01T17:00:00-04:00","event_time_end_last":"2024-07-01T17:00:00-04:00","gmt_time_start":"2024-07-01 19:00:00","gmt_time_end":"2024-07-01 21:00:00","gmt_time_end_last":"2024-07-01 21:00:00","rrule":null,"timezone":"America\/New_York"},"location":"Technology Square Research Building (TSRB) 523A","extras":[],"groups":[{"id":"221981","name":"Graduate Studies"}],"categories":[],"keywords":[{"id":"100811","name":"Phd Defense"}],"core_research_areas":[],"news_room_topics":[],"event_categories":[{"id":"1788","name":"Other\/Miscellaneous"}],"invited_audience":[{"id":"78771","name":"Public"}],"affiliations":[],"classification":[],"areas_of_expertise":[],"news_and_recent_appearances":[],"phone":[],"contact":[],"email":[],"slides":[],"orientation":[],"userdata":""}}}