کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
4959863 1445956 2017 14 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
The block-information-sharing strategy for task allocation: A case study for structure assembly with aerial robots
ترجمه فارسی عنوان
استراتژی به اشتراک گذاری بلوک اطلاعات برای تخصیص وظیفه: مطالعه مورد برای ساختار مونتاژ با روبات های هوایی
کلمات کلیدی
سیستم های چندگانه، تخصیص وظیفه پویا، الگوریتم توزیع، تعادل خط مونتاژ،
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر علوم کامپیوتر (عمومی)
چکیده انگلیسی
A new paradigm for task allocation in cooperative multi-robot systems is proposed in this paper. The block-information-sharing (BIS) strategy is a fully distributed approach, where robots dynamically allocate their tasks following the principle of share & divide to maintain an optimal allocation according to their capabilities. Prior studies on multi-robot information sharing strategies do not formally address the proof of convergence to the optimal allocation, nor its robustness to dynamic changes in the execution of the global task. The BIS strategy is introduced in a general framework and the convergence to the optimal allocation is theoretically proved. As an illustration of the approach, the strategy is applied to the automatic construction of truss structures with aerial robots. In order to demonstrate the benefits of the strategy, algorithms and simulations are presented for a team of heterogeneous robots that can dynamically reallocate tasks during the execution of a mission.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: European Journal of Operational Research - Volume 260, Issue 2, 16 July 2017, Pages 725-738
نویسندگان
, , , ,