Multi-Robot Task Allocation Based on Swarm Intelligence

In book: Multi-Robot Systems, Trends and Development
Source: InTech
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    ABSTRACT: Wireless sensor and robot networks (WSRNs) have emerged as a paradigmatic class of cyber-physical systems with cooperating objects. Due to the robots’ potential to unleash a wider set of networking means and thus augment the network performance, WSRNs have rapidly become a hot research area. In this article, we elaborate on WSRNs from two unique standpoints: robot task allocation and robot task fulfillment. The former deals with robots cooperatively deciding on the set of tasks to be individually carried out to achieve a desired goal; the latter enables robots to fulfill the assigned tasks through intelligent mobility scheduling.
    IEEE Communications Magazine 01/2012; 50(7):47-54. · 3.66 Impact Factor
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    ABSTRACT: A method of task allocation and automated negotiation for multi robots was proposed. Firstly, the principles of task allocation were described based on the real capability of robot. Secondly, the model of automated negotiation was constructed, in which Least-Squares Support Vector Regression (LSSVR) was improved to estimate the opponent’s negotiation utility and the robust controller of H ∞ output feedback was employed to optimize the utility performance indicators. Thirdly, the protocol of negotiation and reallocation was proposed to improve the real-time capability and task allocation. Finally, the validity of method was proved through experiments.
    Journal of Electronics (China) 11/2012; 29(6).


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