A Hierarchical Task Allocation Method Based on Task Case and Its Application to Multi-robot Hunting
This paper proposes a hierarchical task allocation method,based on the matching of task cases.On the basis of hierarchical organization form of multi-robot system,the tasks are allocated by case matching,which is based on the combination of contract net and acquaintance net.After a new task is arrived,its features are synthesized and then it is matched from task cases library.When the stored items of matched case in the library are enough,high-layer manager will allocate the task to the selected low-layer manager directly,or else,it adopts contract net based allocation to each low-layer manager,who will bid to high-layer manager directly based on acquaintance net.The execution result of selected robots will be returned to the high-layer manager,who will update the cases library.The method is applied to multi-robot hunting to show its validity.
Ying Ma Zhiqiang Cao Chao Zhou Min Tan
Laboratory of Complex Systems and Intelligence Science,Institute of Automation,Chinese Academy of Sciences,Beijing 100190,P.R.China
国际会议
武汉
英文
2008-11-01（万方平台首次上网日期，不代表论文的发表时间）