中国科学院机构知识库网格
Chinese Academy of Sciences Institutional Repositories Grid
An Optimal Task Allocation Approach for Large-Scale Multiple Robotic Systems with Hierarchical Framework and Resource Constraints

文献类型:期刊论文

作者Liang Ren; Yingying Yu; Zhiqiang Cao; Zhiyong Wu; Junzhi Yu; Chao Zhou; Min Tan
刊名IEEE Systems Journal
出版日期2017-11
期号PP(99)页码:1-4
关键词Hierarchical Framework Large-scale Multiple Robotic System Resource Constraints Task Allocation
英文摘要

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.

WOS记录号WOS:000451262300083
源URL[http://ir.ia.ac.cn/handle/173211/20936]  
专题自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
作者单位中国科学院自动化研究所
推荐引用方式
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.

入库方式: OAI收割

来源:自动化研究所

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