Fuzzy task assignment in heterogeneous distributed multi-robot system

IF 10.7 2区计算机科学 Q1 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE

Artificial Intelligence Review Pub Date : 2024-11-08 DOI:10.1007/s10462-024-10977-y

Rechache Khelifa, Teggar Hamza, Boufera Fatma

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引用次数: 0

Abstract

This study addresses the problem of coordination in cooperative multi-robot systems performing complex tasks. An analysis of cooperative behavior in mobile multi-robot systems in terms of task execution accuracy by heterogeneous robots is carried out. In addition, we evaluate the capacity and compatibility of tasks assigned to robots to optimize task execution without using direct communication with the robots or a central decision-making unit. A model for task selection in heterogeneous distributed multi-robot systems is proposed. It is based on two processes: the first decomposes complex tasks into elementary tasks, and the second assigns elementary tasks to mobile robots for real-time execution. The distribution of elementary tasks is NP-hard, which leads us to recommend approximate solutions. A fuzzy system called Fuzzy Decision Making in Task Selection is proposed, which uses fuzzy logic to solve this problem. This system allows robots to choose to perform any task in the future. An approach is presented that uses two cascading fuzzy systems. The first calculates the utility of the robot and then activates the second fuzzy system to calculate the utility of the task. By using the output of the fuzzy decision system in our model, each robot will be able to decide for itself which tasks to perform. The results of a simulation of mobile robots transporting goods demonstrate the effectiveness of this fuzzy decision-maker.

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异构分布式多机器人系统中的模糊任务分配

本研究探讨了执行复杂任务的合作式多机器人系统中的协调问题。从异构机器人执行任务的准确性角度，对移动多机器人系统中的合作行为进行了分析。此外，我们还评估了分配给机器人的任务的能力和兼容性，以便在不与机器人或中央决策单元直接通信的情况下优化任务执行。我们提出了异构分布式多机器人系统中的任务选择模型。该模型基于两个过程：第一个过程将复杂任务分解为基本任务，第二个过程将基本任务分配给移动机器人实时执行。基本任务的分配是 NP 难题，因此我们推荐近似解决方案。我们提出了一种名为 "任务选择中的模糊决策 "的模糊系统，利用模糊逻辑来解决这一问题。该系统允许机器人选择在未来执行任何任务。本文提出了一种使用两个级联模糊系统的方法。第一个系统计算机器人的效用，然后激活第二个模糊系统计算任务的效用。通过在我们的模型中使用模糊决策系统的输出，每个机器人将能够自行决定执行哪些任务。移动机器人运输货物的模拟结果证明了这种模糊决策系统的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Artificial Intelligence Review 工程技术-计算机：人工智能

CiteScore

22.00

自引率

3.30%

发文量

194

审稿时长

5.3 months

期刊介绍： Artificial Intelligence Review, a fully open access journal, publishes cutting-edge research in artificial intelligence and cognitive science. It features critical evaluations of applications, techniques, and algorithms, providing a platform for both researchers and application developers. The journal includes refereed survey and tutorial articles, along with reviews and commentary on significant developments in the field.