Knowledge Commons of Institute of Automation,CAS
Geometric topology based cooperation for multiple robots in adversarial environments | |
Zhang, Dandan1; Wang, Long1; Yu, Junzhi2; Wang Long | |
发表期刊 | CONTROL ENGINEERING PRACTICE |
2008-09-01 | |
卷号 | 16期号:9页码:1092-1100 |
文章类型 | Article |
摘要 | This paper addresses the cooperation problem for a team of mobile robots in adversarial environments. Considering the mutual influence among the robots, two key factors are defined: the impact factor and the suffering factor. A stochastic assignment model is built, based on the geometric topology of the targets, through which the robots can exhibit temporal cooperation. To reduce computational complexity, a genetic algorithm is employed to optimize the relative weights of the impact factor and the suffering factor, and after that, the Improved Hungarian Algorithm is used to solve the assignment problem. Both simulation and experimental results demonstrate the effectiveness of the proposed method. |
关键词 | Cooperation Adversarial Environment Impact Factor Suffering Factor Multiple Robots |
WOS标题词 | Science & Technology ; Technology |
关键词[WOS] | TARGET ASSIGNMENT ; FISH |
收录类别 | SCI |
语种 | 英语 |
WOS研究方向 | Automation & Control Systems ; Engineering |
WOS类目 | Automation & Control Systems ; Engineering, Electrical & Electronic |
WOS记录号 | WOS:000257129600006 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/9647 |
专题 | 09年以前成果 |
通讯作者 | Wang Long |
作者单位 | 1.Intelligent Control Laboratory, Center for Systems and Control, College of Engineering, Beijing, 100871, China 2. Institute of Automation, Chinese Academy of Sciences, Beijing, 100080, China |
推荐引用方式 GB/T 7714 | Zhang, Dandan,Wang, Long,Yu, Junzhi,et al. Geometric topology based cooperation for multiple robots in adversarial environments[J]. CONTROL ENGINEERING PRACTICE,2008,16(9):1092-1100. |
APA | Zhang, Dandan,Wang, Long,Yu, Junzhi,&Wang Long.(2008).Geometric topology based cooperation for multiple robots in adversarial environments.CONTROL ENGINEERING PRACTICE,16(9),1092-1100. |
MLA | Zhang, Dandan,et al."Geometric topology based cooperation for multiple robots in adversarial environments".CONTROL ENGINEERING PRACTICE 16.9(2008):1092-1100. |
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