异构多机器人室内监控任务分配策略

Seohyun Jeon, Minsu Jang, Seunghwan Park, Daeha Lee, Young-Jo Cho, Jaehong Kim
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引用次数: 3

摘要

多机器人协作有望在大规模环境中提高性能和容错性。为了实现利用这些特征的目标,需要动态任务分配算法来适应不断变化的环境。以往的研究大多是简化任务,强调任务分配算法,而本文则针对任务的具体分析需求,提出了一种任务分配策略:离线和在线分析。离线分析在部署机器人之前静态地考虑了机器人工作场景。在线分析考虑了机器人运行时的实时任务分配算法。结合这两种分析,可以以最小的成本实现有效的任务分配。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Task allocation strategy of heterogeneous multi-robot for indoor surveillance
Multi-robot cooperation promises increased performance and fault-tolerance in large-scale environments. To achieve the goal with these features, dynamic task allocation algorithm is required to adapt changing environment. Whereas previous researches mostly have been done for simplifying the mission and emphasizing the task allocation algorithm, this paper addresses the needs to analyze the mission more concretely and introduces a strategy for the task allocation problem: off-line and on-line analyses. The off-line analysis takes the robot-working scenario into account statically before deploying the robots. The on-line analysis considers the real time task allocation algorithm while running the robots. Combining these two analyses, efficient task allocation is achieved with minimum cost.
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