Decentralized Task Sequencing and Multiple Mission Control for Heterogeneous Robotic Networks

摘要：

In this paper a novel decentralized approach for task sequencing within a multiple missions control framework is presented. The main contribution of this work concerns the decentralization of a control framework for multiple mission execution in order to enhance the robustness of the system, and the application of the latter to a heterogeneous robotic network. The proposed approach is based on the Matrixbased Discrete Event Framework (MDEF). This formalism is adapted to networks of heterogeneous robots, i.e., robots with different capabilities, and to the decentralized control of mission execution using a consensus-based approach which guarantees the agreement among robots on executed actions and their consequences.

作者: Donato Di Paola Andrea Gasparri David Naso Giovanni Ulivi Frank L. Lewis

作者单位: Institute of Intelligent Systems for Automation (ISSIA),National Research Council (CNR),70126 Bari,I Faculty of Engineering,Computer Science and Automation Department,University Roma Tre,00146 Rome,I Department of Electrical and Electronic Engineering (DEE),Polytechnic of Bari,70126 Bari,Italy the Automation and Robotics Research Institute,University of Texas at Arlington,Fort Worth,TX 76118-

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: 4467-4473

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）