期刊
CONCURRENCY AND COMPUTATION-PRACTICE & EXPERIENCE
卷 34, 期 9, 页码 -出版社
WILEY
DOI: 10.1002/cpe.5806
关键词
coordination; multi-robot systems; predicate logic reasoning; structured environment exploration; task assignments; task information
资金
- General Project of Fundamental Scientific Research of Education Department of Heilongjiang Province Government [135309461]
- General Project of Science and Technology Bureau of Qiqihar City Government, Heilongjiang, China [GYGG2017-22]
- National Natural Science Foundation of China [61672304]
- Young Innovative Talent Project of Fundamental Scientific Research of Education Department of Heilongjiang [135309341]
A coordinated strategy based on predicate logic reasoning is proposed in this paper to improve time efficiency for structured environment exploration of multi-robot systems. The strategy assigns the room with maximal utility to the robot with the optimal exploring property and realizes cooperative exploration by considering the room capacity. The coordination takes into account robot performance and environment property and is conducted in a distributed manner. In addition, a triple set named task information is proposed to save computing and storage resources for environment information sharing among robots.
To improve time efficiency for structured environment exploration of multi-robot systems, a novel coordinated strategy based on predicate logic reasoning is proposed in this paper. The strategy assigns the room with maximal utility to the robot with the optimal exploring property, and realizes cooperative exploration by considering the room capacity. A set of predicate logic reasoning formulas is established to implement the coordination. The coordination takes into account robot performance and environment property and is conducted in a distributed manner. In addition, to save computing and storage resources, a triple set named as task information was proposed instead of traditional unfinished job list for environment information sharing among robots. The results are validated by computer simulations for two simulated office like environments.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据