期刊
IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
卷 9, 期 3, 页码 516-528出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TASE.2012.2201470
关键词
Multirobot; online and offline assignment; resource constraint; robot coalition; task allocation
资金
- Research Grants Council of the Hong Kong Special Administrative Region, China [CityU 120310]
- City University of Hong Kong [7002743]
We propose a coalition-based approach to solve the task allocation problem of multiple robots with resource constraints. The resources required by task execution characterize the robots and tasks. Robots must form coalitions to accomplish the assigned tasks because individually, each robot may not complete the task independently due to resource limitation. We consider both online and offline assignment manners of the task allocation problem. For online assignment, a sequential coalition method is proposed to select efficiently the suitable robots to form coalitions for the assigned task. For offline assignment, a holistic coalition method is proposed for global optimization of all the assigned tasks. Both sequential and holistic coalition methods are compared with existing approaches. Numerous simulations and experiments performed on heterogeneous multiple mobile robots demonstrate the effectiveness of the proposed coalition-based task allocation methods.
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