期刊
IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART C-APPLICATIONS AND REVIEWS
卷 36, 期 3, 页码 315-327出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TSMCC.2006.871590
关键词
motion control; multirobot architecture; self-organizing neural networks; swarm intelligence; task allocation
This paper describes a distributed layered architecture for resource-constrained multirobot cooperation, which is utilized in autonomic mobile sensor network coverage. In the upper layer, a dynamic task allocation scheme self-organizes the robot coalitions to track efficiently across regions. It uses concepts of ant behavior to self-regulate the regional distributions of robots in proportion to that of the moving targets to be tracked in a nonstationary environment. As a result, the adverse effects of task interference between robots are minimized and network coverage is improved. In the lower task execution layer, the robots use self-organizing neural networks to coordinate their target tracking within a region. Both layers employ self-organization techniques, which exhibit autonomic properties such as self-configuring, self-optimizing, self-heating, and self-protecting. Quantitative comparisons with other tracking strategies such as static sensor placements, potential fields, and auction-based negotiation show that our layered approach can provide better coverage, greater robustness to sensor failures, and greater flexibility to respond to environmental changes.
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