Decentralised Control of Robot Teams with Discrete and Continuous Decision Variables

摘要：

The ability to coordinate can offer significant performance advantages. This paper proposes an algorithm for decentralised control that is a function of both discrete and continuous variables. The algorithm is applied to a multirobot, multi-target mapping scenario, where decisions that couple the continuous motion controls and discrete robot-totarget assignments are made. The algorithm out-performed benchmarks including implicit coordination, best-response, and the decoupling of continuous and discrete decision variables.

作者: Zhe Xu Salah Sukkarieh

作者单位: Australian Centre for Field Robotics (ACFR),The University of Sydney,NSW 2006,Australia

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 4780-4785

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）