Geometric topology based cooperation for multiple robots in adversarial environments

CASIA OpenIR > 09年以前成果

	Geometric topology based cooperation for multiple robots in adversarial environments
	Zhang, Dandan 1; Wang, Long 1; 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	被引频次：10[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
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.