COBOS: Cooperative backoff adaptive scheme for multirobot task allocation

被引：34

作者：

Fua, CH ^{[1
]}

Ge, SZS

机构：

[1] Natl Univ Singapore, Grad Sch Integrated Sci & Engn, Singapore 117576, Singapore

[2] Natl Univ Singapore, Dept Elect & Comp Engn, Singapore 117576, Singapore

来源：

IEEE TRANSACTIONS ON ROBOTICS | 2005年 / 21卷 / 06期

关键词：

cooperative backing off; disjoint networks; fault tolerance; multirobot tasks; task allocation;

D O I：

10.1109/TRO.2001.855992

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

In this paper, the cooperative backoff adaptive scheme (COBOS) is proposed for task allocation amongst a team of heterogeneous robots. The COBOS operates in regions with limited communication ranges, and is robust against robot malfunctions and uncertain task specifications, with each task potentially requiring multiple robots. The portability of tasks across teams (or when team demography changes) is improved by specifying tasks using basis tasks in a matrix framework. The adaptive feature of COBOS further increases the flexibility of robot teams, allowing robots to adjust their actions based on past experience. In addition, we study the properties of COBOS: operation domain; communication requirements; computational complexity; and solution quality; and compare the scheme with other task-allocation mechanisms. Realistic simulations are carried out to verify the effectiveness of the proposed scheme.

引用

页码：1168 / 1178

页数：11

共 24 条

[1]

BALCH T, 2001, ROBOT TEAMS DIVERSIT

[2]

Botelho SC, 1999, ICRA '99: IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, PROCEEDINGS, P1234, DOI 10.1109/ROBOT.1999.772530

[3]

Chaimowicz L, 2002, 2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, P293, DOI 10.1109/ROBOT.2002.1013376

[4]

Dantzig G. B., 1997, LINEAR PROGRAMMING

[5]

Dias MB, 2004, IEEE INT CONF ROBOT, P3435

[6]

Emery R, 2002, 2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, P3008, DOI 10.1109/ROBOT.2002.1013689

[7]

FUA C, 2004, P INT S INT CONTR SE, P162

[8] INTERPROCESS COMMUNICATION FOR DISTRIBUTED ROBOTICS [J].

GAUTHIER, D ;

FREEDMAN, P ;

CARAYANNIS, G ;

MALOWANY, AS .

IEEE JOURNAL OF ROBOTICS AND AUTOMATION, 1987, 3 (06) :493-504

[9]

Ge SS, 2005, IEEE INT CONF ROBOT, P715

[10] Queues and artificial potential trenches for multirobot formations [J].

Ge, SZS ;

Fua, CH .

IEEE TRANSACTIONS ON ROBOTICS, 2005, 21 (04) :646-656

← 1 2 3 →