An Optimal Task Allocation Approach for Large-Scale Multiple Robotic Systems with Hierarchical Framework and Resource Constraints

	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
发表期刊	IEEE Systems Journal
	2017-11
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
WOS记录号	WOS:000451262300083
引用统计	被引频次：15[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/20936
专题	复杂系统认知与决策实验室_先进机器人
作者单位	中国科学院自动化研究所
第一作者单位	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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