Cano, J. , White, D. R., Bordallo, A., McCreesh, C. , Michala, A. L. , Singer, J. and Nagarajan, V. (2018) Solving the task variant allocation problem in distributed robotics. Autonomous Robots, 42(7), pp. 1477-1495. (doi: 10.1007/s10514-018-9742-5)
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Abstract
We consider the problem of assigning software processes (or tasks) to hardware processors in distributed robotics environments. We introduce the notion of a task variant, which supports the adaptation of software to specific hardware configurations. Task variants facilitate the trade-off of functional quality versus the requisite capacity and type of target execution processors. We formalise the problem of assigning task variants to processors as a mathematical model that incorporates typical constraints found in robotics applications; the model is a constrained form of a multi-objective, multi-dimensional, multiple-choice knapsack problem. We propose and evaluate three different solution methods to the problem: constraint programming, a constructive greedy heuristic and a local search metaheuristic. Furthermore, we demonstrate the use of task variants in a real instance of a distributed interactive multi-agent navigation system, showing that our best solution method (constraint programming) improves the system’s quality of service, as compared to the local search metaheuristic, the greedy heuristic and a randomised solution, by an average of 16, 31 and 56% respectively.
| Item Type: | Articles |
|---|---|
| Status: | Published |
| Refereed: | Yes |
| Glasgow Author(s) Enlighten ID: | Cano Reyes, Dr Jose and White, Dr David and Michala, Dr Lito and Mccreesh, Dr Ciaran and Singer, Dr Jeremy |
| Authors: | Cano, J., White, D. R., Bordallo, A., McCreesh, C., Michala, A. L., Singer, J., and Nagarajan, V. |
| College/School: | College of Science and Engineering > School of Computing Science |
| Journal Name: | Autonomous Robots |
| Publisher: | Springer |
| ISSN: | 0929-5593 |
| ISSN (Online): | 1573-7527 |
| Published Online: | 25 April 2018 |
| Copyright Holders: | Copyright © 2018 The Authors |
| First Published: | First published in Autonomous Robots 42(7):1477-1495 |
| Publisher Policy: | Reproduced under a Creative Commons License |
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