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Geometric topology based cooperation for multiple robots in adversarial environments
Zhang, Dandan1; Wang, Long1; Yu, Junzhi2; Wang Long
2008-09-01
发表期刊CONTROL ENGINEERING PRACTICE
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
被引频次:7[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/173211/9647
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
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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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