Dynamic Multi-Robot Task Allocation for Intruder Detection
In this paper, we propose an autonomous system consisting of cooperative mobile robots and Fiber Optic Sensors (FSs) for intruder detection in perimeter defense tasks. The system concept is that FSs will sense perimeter intrusions and act as a cueing sensor to an ensemble of robots. These robots in turn engage the potential intruder, performing surveillance and/or neutralization of the intrusion. To minimize the intruder missing rate and response time, some robots have to perform tracking of the intruders while others have to deploy themselves dynamically to cover the protected area. Therefore, a shame-level based dynamic task allocation algorithm is proposed for intruder tracking and allocation, and a gap-based algorithm is proposed for self-deployment of the remaining robots. Both algorithms are developed in a decentralized manner, which means each robot can only communicate with its local neighbors without any global controller unit. Extensive simulation results demonstrate the efficiency and flexibility of the proposed algorithm in a dynamic intruder detection task.
Yuyang Zhang Yan Meng
Department of Electrical and Computer Engineering,Stevens Institute of Technology,Hoboken,NJ 07030,USA
国际会议
2009 IEEE International Conference on Information and Automation(2009年 IEEE信息与自动化国际学术会议)
珠海、澳门
英文
1081-1086
2009-06-22（万方平台首次上网日期，不代表论文的发表时间）