Fuzzy Decision-Making for Task Selection in Multi-Robots Systems
This article presents a task selection method, in a multi-robot system (MRS), based on the decomposition of complex tasks into elementary tasks. In this model, a precision criterion will be defined. A Decision-making based on fuzzy logic, called FDM-ET will be used to calculate a utility value associated with the elementary task in the system, from the inputs of this decision-maker which come from the observations obtained from the sensor data. The DM-ET outputs will enable each robot to individually select the task to be performed. The results of a simulation of goods transport by mobile robots are presented to demonstrate the effectiveness of this fuzzy Decision-Making.
Keywords - Task Selection, Multi-Robot System, Precision Criterion, Decision-making, Fuzzy Decision