| Autor: |
Paula García, Pilar Caamaño, Richard J. Duro, Francisco Bellas |
| Jazyk: |
angličtina |
| Rok vydání: |
2013 |
| Předmět: |
|
| Zdroj: |
International Journal of Advanced Robotic Systems, Vol 10 (2013) |
| Druh dokumentu: |
article |
| ISSN: |
1729-8814 |
| DOI: |
10.5772/55489 |
| Popis: |
This work deals with the development of a dynamic task assignment strategy for heterogeneous multi-robot teams in typical real world scenarios. The strategy must be efficiently scalable to support problems of increasing complexity with minimum designer intervention. To this end, we have selected a very simple auction-based strategy, which has been implemented and analysed in a multi-robot cleaning problem that requires strong coordination and dynamic complex subtask organization. We will show that the selection of a simple auction strategy provides a linear computational cost increase with the number of robots that make up the team and allows the solving of highly complex assignment problems in dynamic conditions by means of a hierarchical sub-auction policy. To coordinate and control the team, a layered behaviour-based architecture has been applied that allows the reusing of the auction-based strategy to achieve different coordination levels. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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