A distributed control architecture for collaborative multi-robot task allocation
A distributed control architecture for collaborative multi-robot task allocation
复制标题
一种协作多机器人任务分配的分布式控制架构
DOI：
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发表时间：
2017
期刊：
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通讯作者：
M. Nicolescu
中科院分区：
文献类型：
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作者：
Janelle Blankenburg;S. Banisetty;S. P. H. Alinodehi;Luke Fraser;David Feil;M. Nicolescu;M. Nicolescu
本文讨论了多机器人系统的任务分配问题，执行任务的复杂，层次表示，其中包含不同类型的排序约束和多个路径的执行。我们提出了一个分布式多机器人控制架构，解决了上述挑战，并作出了以下贡献：i）它允许在线，动态分配的机器人任务的各个步骤，ii）它确保了协作机器人系统将遵守所有的任务约束和iii）它允许机会，灵活的任务执行给定不同的环境条件。该架构使用分布式消息传递系统来允许机器人进行通信。每个机器人都使用自己的状态和团队成员状态来跟踪给定任务的进度，并使用激活扩散机制来识别接下来要执行的子任务。我们证明了建议的架构上的两个人形机器人（PR2和巴克斯特）执行分层任务的团队。
This paper addresses the problem of task allocation for multi-robot systems that perform tasks with complex, hierarchical representations which contain different types of ordering constraints and multiple paths of execution. We propose a distributed multi-robot control architecture that addresses the above challenges and makes the following contributions: i) it allows for on-line, dynamic allocation of robots to various steps of the task, ii) it ensures that the collaborative robot system will obey all of the task constraints and iii) it allows for opportunistic, flexible task execution given different environmental conditions. This architecture uses a distributed messaging system to allow the robots to communicate. Each robot uses its own state and team member states to keep track of the progress on a given task and identify which subtasks to perform next using an activation spreading mechanism. We demonstrate the proposed architecture on a team of two humanoid robots (a PR2 and a Baxter) performing hierarchical tasks.