A supervisory control method for multi-robot task allocation in urban search and rescue
A supervisory control method for multi-robot task allocation in urban search and rescue
复制标题
城市搜救中多机器人任务分配的监控方法
DOI：
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发表时间：
2015
期刊：
影响因子：
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通讯作者：
G. Nejat
中科院分区：
文献类型：
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作者：
Yugang Liu;M. Ficocelli;G. Nejat
本文提出了一种独特的监控体系结构，用于城市搜救应用中异质多机器人团队的有效任务分配。在该方法中，探索大规模未知杂乱环境和搜索受害者的USAR任务根据不同机器人的能力分配给不同团队中的不同机器人。为了最大限度地利用训练有素的操作员，只需要一名人类操作员来监督团队并与机器人分担任务。此外，当机器人在任务执行过程中遇到故障时，所提出的监督控制器确定团队行为。在类似USAR的环境中进行了大量的仿真实验，以考察所提出的监督控制方法的性能。实验结果表明，该方法对USAR应用中的多机器人控制是有效的，并且对不同的场景场景和不断增加的团队规模具有较强的鲁棒性。
This paper presents the development of a unique supervisory control architecture for effective task allocation of a heterogeneous multi-robot team in urban search and rescue (USAR) applications. In the proposed approach, the USAR tasks of exploring large unknown cluttered environments and searching for victims are allocated to different robots in the heterogeneous team based on their capabilities. A single human operator is only needed to supervise the team and share tasks with the robots in order to maximize the use of trained operators. Furthermore, the proposed supervisory controller determines the team behavior when faced with robot failures during task execution. Extensive simulated experiments were conducted in USAR-like environments to investigate the performance of the proposed supervisory control method. The results demonstrated that the proposed approach is effective for multi-robot control in USAR applications, and is robust to varying scene scenarios and increasing team size.