Load Balancing for Multi-Robot Construction

摘要：

In distributed multi-robot construction it is important to set the relative rates at which different construction sites receive raw building materials. Otherwise, subtasks finish at different times introducing unnecessary delays. We present a feedback algorithm to achieve robust load balancing in routing building materials for stochastic, distributed, multi-robot construction systems. We express global behavior in terms of local reactive behavior via Guarded Command Programming with Rates and prove correctness of the load-balancing controller for a wide range of conditions. We adapt a proof from earlier work on controlling Stochastic Chemical Kinetic systems and illustrate the algorithm on the Factory-Floor robotic testbed 1.

作者: Nils Napp Eric Klavins

作者单位: University of Washington Seattle,WA

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: 254-260

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）