CASIA OpenIR  > 09年以前成果
Geometric topology based cooperation for multiple robots in adversarial environments
Zhang, Dandan1; Wang, Long1; Yu, Junzhi2; Wang Long
Source PublicationCONTROL ENGINEERING PRACTICE
2008-09-01
Volume16Issue:9Pages:1092-1100
SubtypeArticle
AbstractThis 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.
KeywordCooperation Adversarial Environment Impact Factor Suffering Factor Multiple Robots
WOS HeadingsScience & Technology ; Technology
WOS KeywordTARGET ASSIGNMENT ; FISH
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems ; Engineering
WOS SubjectAutomation & Control Systems ; Engineering, Electrical & Electronic
WOS IDWOS:000257129600006
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/9647
Collection09年以前成果
Corresponding AuthorWang Long
Affiliation1.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
Recommended Citation
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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