Sensor network-based multi-robot task allocation
Sensor network-based multi-robot task allocation
复制标题
基于传感器网络的多机器人任务分配
DOI：
10.1109/iros.2003.1248928
复制
发表时间：
2003
期刊：
影响因子：
--
通讯作者：
G. Sukhatme
中科院分区：
文献类型：
--
作者：
M. Batalin;G. Sukhatme
我们提出了DINTA，分布式网络任务分配-多机器人任务分配（MRTA）的一种新的范例，其中任务被隐式地分配给机器人的预先部署的，静态的传感器网络。模拟报警场景的实验结果表明，我们的方法是能够计算解决方案的MRTA问题的分布式方式。我们将我们的方法与机器人使用部署的传感器网络进行有效探索的策略进行了比较。数据表明，我们的方法优于这样的探索只算法。数据还提供证据表明，该算法比仅探索算法更稳定。
We present DINTA, distributed in-network task allocation - a novel paradigm for multi-robot task allocation (MRTA) where tasks are allocated implicitly to robots by a pre-deployed, static sensor network. Experimental results with a simulated alarm scenario show that our approach is able to compute solutions to the MRTA problem in a distributed fashion. We compared our approach to a strategy where robots use the deployed sensor network for efficient exploration. The data show that our approach outperforms such an exploration-only algorithm. The data also provide evidence that the proposed algorithm is more stable than the exploration-only algorithm.