Dynamic Task Allocation in Cooperative Robot Teams

Autor:	Athanasios Tsalatsanis, Ali Yalcin, Kimon. P. Valavanis
Jazyk:	angličtina
Rok vydání:	2010
Předmět:	Supervisory control cooperative robot teams task allocation limited lookahead policy. Electronics TK7800-8360 Electronic computers. Computer science QA75.5-76.95
Zdroj:	International Journal of Advanced Robotic Systems, Vol 6, Iss 4 (2010)
Druh dokumentu:	article
ISSN:	1729-8806 1729-8814
Popis:	In this paper a dynamic task allocation and controller design methodology for cooperative robot teams is presented. Fuzzy logic based utility functions are derived to quantify each robot\'s ability to perform a task. These utility functions are used to allocate tasks in real-time through a limited lookahead control methodology partially based on the basic principles of discrete event supervisory control theory. The proposed controller design methodology accommodates flexibility in task assignments, robot coordination, and tolerance to robot failures and repairs. Implementation details of the proposed methodology are demonstrated through a warehouse patrolling case study.
Databáze:	Directory of Open Access Journals
Externí odkaz:	https://doaj.org/article/55f2899860e54c039cc5508be51aff84 Zobrazit plný text záznamu View record in DOAJ