An Optimal Task Allocation Approach for Large-Scale Multiple Robotic Systems with Hierarchical Framework and Resource Constraints | |
Liang Ren![]() ![]() ![]() ![]() ![]() ![]() ![]() | |
Source Publication | IEEE Systems Journal
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2017-11 | |
Issue | PP(99)Pages:1-4 |
Abstract |
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. |
Keyword | Hierarchical Framework Large-scale Multiple Robotic System Resource Constraints Task Allocation |
WOS ID | WOS:000451262300083 |
Citation statistics | |
Document Type | 期刊论文 |
Identifier | http://ir.ia.ac.cn/handle/173211/20936 |
Collection | 复杂系统管理与控制国家重点实验室_先进机器人 |
Affiliation | 中国科学院自动化研究所 |
First Author Affilication | Institute of Automation, Chinese Academy of Sciences |
Recommended Citation 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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08121992.pdf(959KB) | 期刊论文 | 作者接受稿 | 开放获取 | CC BY-NC-SA | View Download |
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