Fig 1.
(a). Decentralized (b) Centralized (c) Distributed.
Fig 2.
Generalized methodology for the proposed resource sharing mechanism.
Table 1.
List of abbreviations used in the methodology.
Fig 3.
Mapping of subtask’s requirement with available resources of the robot.
Fig 4.
Generalized decentralized task-robot encounter and system status aggregation depiction.
Fig 5.
Bid calculation.
Fig 6.
Auctioneer’s role.
Table 2.
Parameters used for experimentation.
Fig 7.
Simulation Scenario (a) Initial Position (b) R4 encounters a robotic arm failure and R3 encounters an RGB failure (c) R3 is selected by R4 for its lowest bid for robotic arm sharing (d) R3 completes the task which was detected by R4.
Fig 8.
Internal hardware and resources of a robot.
Fig 9.
Real Experimentation (a) Robotic arm absence in R3 (b) Resource sharing request received by R1 and R2 (c)Lowest Bid of R1 accepted by R3 (d) Task completion by R1.
Fig 10.
Time required for task completion with different objectives.
Fig 11.
Simulated results for total completion time for various tasks-robot ratios.
Fig 12.
Time required for various task-robot ratio with real experimentation.
Fig 13.
Simulation results for resource utilization for various task-robot ratio.
Fig 14.
Real experimentation for resource utilization for various task-robot ratios.
Fig 15.
Simulation results for communication burden for various task-robot ratio.
Fig 16.
Real experimentation results for average communication overhead per task for various task-robot ratio.