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Multi-Robot Coordination in Complex Environment with Task and Communication Constraints : Coordinazione di robot multipli in ambienti complessi e vincoli di applicazione e comunicazione, in: International Journal of Advanced Robotic Systems |
Documenti accessibili
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Informazioni generali |
| Autore |
Liu, Yabo; Yang, Jianhua; Zheng, Yao; Wu, Zhaohui |
| Pubblicato |
InTech Open Access Publisher, 2013
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| Abstract |
The tasks would fail to be assigned to any robots
in the task allocation phase as a consequence of the
inherent communication constraints in multi‐robot
systems (MRS). This negative effect becomes even more
serious in tasks with temporal constraints. We therefore
propose the constraint‐based approach (CoBA), a marketbased
task allocation approach to enable multi‐robot
coordination in domains with temporal constraints
between subtasks of a complex task and network
constraints between robots. We handle network
constraints by having each robot maintain a dynamic
acquaintance network of robots that it knows about, and
allowing a robot to submit a bid on behalf of another
robot during a task auction (“indirect bidding”). In order
to model the complex task, we introduce the AND/OR
task tree with temporal constraints. An auction‐clearing
routine, which supports the AND/OR task tree with
temporal constraints and direct/indirect task auction, is
proposed to enable effective multi‐robot task allocation in
spite of various constraints. The solution was validated in
both simulation and physical environments by a series of
experiments in disaster response domains. Specifically,
we study the system performance by separately varying
the number of robots, the expected rate of task issuance,
the communication reliability factor, the compositions of
MRS, as well as the acquaintance relationship parameter,
in simulation experiments. The results suggest that our
solution outperforms others, that is, robots were able to
complete the tasks more promptly and effectively. |
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International Journal of Advanced Robotic Systems
Autore: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Pubblicato: 2004
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