Gradient field-based task assignment in an AGV transportation system

Assigning tasks to agents is complex, especially in highly dynamic environments. Typical protocol-based approaches for task assignment such as Contract Net have proven their value, however, they may not be flexible enough to cope with continuously changing circumstances. In this paper we study and validate the feasibility of a field-based approach for task assignment in a complex problem domain. To evaluate the approach we compare it with a standard Contract Net approach. In particular, we apply the field-based approach for task assignment in an AGV transportation system. In this approach, transports emit fields into the environment that attract idle AGVs. To avoid multiple AGVs driving towards the same transport, AGVs emit repulsive fields. AGVs combine received fields and follow the gradient of the combined fields, that guide them towards pick locations of transports. The AGVs continuously reconsider the situation of the environment and task assignment is delayed until the load is p...

• Type: Conference
• Year: 2006
• Where: ATAL
• Authors: Danny Weyns, Nelis Boucké, Tom Holvoet
• Keywords: ATAL 2006, Contract Net Approach, Field-based Approach, Intelligent Agents, Task Assignment