Networked Architecture for Multi-Robot Task Reallocation in Dynamic Environment

摘要：

Distributed and efficiently allocating tasks to networked robots in dynamic environment pose challenge in both theory and application in robotics. A fundamental issue here is how to reallocate tasks during task execution. In this paper, by integrating a high-level market-based algorithm with a low-level mobile ad-hoc network communication structure, we propose a new cooperation architecture named Market-MANET (M-M) architecture, for networked robot task allocation. Additionally, an adventure mechanism is introduced into the M-M architecture to increase the success probability in accomplishing tasks. The effectiveness of the proposed architecture is verified by simulations of task transportation.

作者: Xiangpeng Li Dong Sun Jie Yang

作者单位: Department of Manufacturing Engineering and Engineering Management,Joint Advanced Research entre of Department of Manufacturing Engineering and Engineering Management,City University of Hong Kong,Kowl Department of Precision Machinery and Precision Instrumentation,University of Science and Technology

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 33-38

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）