Multi-Robot Coordination in Complex Environment with Task and Communication Constraints

International Journal of Advanced Robotic Systems

关键词: Multi-Robot System;    Coordination and Cooperation;    Task Allocation;   

DOI  :  10.5772/54379

学科分类：自动化工程

来源: InTech

【 摘 要 】

Abstract The tasks would fail to be assigned to any robots in the task allocation phase as a consequence of the inherent communication constraints in multi-robot systems (MRS). This negative effect becomes even more serious in tasks with temporal constraints. We therefore propose the constraint-based approach (CoBA), a market-based task allocation approach to enable multi-robot coordination in domains with temporal constraints between subtasks of a complex task and network constraints between robots. We handle network constraints by having each robot maintain a dynamic acquaintance network of robots that it knows about, and allowing a robot to submit a bid on behalf of another robot during a task auction (“indirect bidding”). In order to model the complex task, we introduce the AND/OR task tree with temporal constraints. An auction-clearing routine, which supports the AND/OR task tree with temporal constraints and direct/indirect task auction, is proposed to enable effective multi-robot task allocation in...

【 授权许可】

CC BY