An Optimal Task Allocation Approach for Large-Scale Multiple Robotic Systems with Hierarchical Framework and Resource Constraints
Liang Ren; Yingying Yu; Zhiqiang Cao; Zhiyong Wu; Junzhi Yu; Chao Zhou; Min Tan
2017-11
发表期刊IEEE Systems Journal
期号PP(99)页码:1-4
摘要

In this paper, a hierarchical coalition approach is proposed. The proposed approach is conducted under a hierarchical framework, which is composed of individual robots in the bottom layer and managers in higher layers. A bottom­–up resources vector updating process for each manager is executed. Next, a top­–down resources comparison process between the task and the managers is used to generate candidate robot coalitions. Specifically, different managers may be combined when necessary to meet the resources requirement of some complex tasks. Furthermore, a matching degree between the task and candidate robot coalition is utilized for an optimized coalition selection. The effectiveness of the proposed approach is verified by simulations.

关键词Hierarchical Framework Large-scale Multiple Robotic System Resource Constraints Task Allocation
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/20936
专题复杂系统管理与控制国家重点实验室_先进机器人
作者单位中国科学院自动化研究所
推荐引用方式
GB/T 7714
Liang Ren,Yingying Yu,Zhiqiang Cao,et al. An Optimal Task Allocation Approach for Large-Scale Multiple Robotic Systems with Hierarchical Framework and Resource Constraints[J]. IEEE Systems Journal,2017(PP(99)):1-4.
APA Liang Ren.,Yingying Yu.,Zhiqiang Cao.,Zhiyong Wu.,Junzhi Yu.,...&Min Tan.(2017).An Optimal Task Allocation Approach for Large-Scale Multiple Robotic Systems with Hierarchical Framework and Resource Constraints.IEEE Systems Journal(PP(99)),1-4.
MLA Liang Ren,et al."An Optimal Task Allocation Approach for Large-Scale Multiple Robotic Systems with Hierarchical Framework and Resource Constraints".IEEE Systems Journal .PP(99)(2017):1-4.
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