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Informations générales |
| Auteur |
García, Paula; Caamaño, Pilar; Duro, Richard J.; Bellas, Francisco |
| Publié |
InTech Open Access Publisher, 2013
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| Abstract |
This work deals with the development of a
dynamic task assignment strategy for heterogeneous
multi‐robot teams in typical real world scenarios. The
strategy must be efficiently scalable to support problems
of increasing complexity with minimum designer
intervention. To this end, we have selected a very simple
auction‐based strategy, which has been implemented and
analysed in a multi‐robot cleaning problem that requires
strong coordination and dynamic complex subtask
organization. We will show that the selection of a simple
auction strategy provides a linear computational cost
increase with the number of robots that make up the team
and allows the solving of highly complex assignment
problems in dynamic conditions by means of a
hierarchical sub‐auction policy. To coordinate and control
the team, a layered behaviour‐based architecture has been
applied that allows the reusing of the auction‐based
strategy to achieve different coordination levels. |
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International Journal of Advanced Robotic Systems
Auteur: 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, [...]
Publié: 2004
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