The Any-Com Approach to Multi-Robot Coordination
The Any-Com Approach to Multi-Robot Coordination
复制标题
Any-Com 多机器人协调方法
DOI：
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发表时间：
2010
期刊：
影响因子：
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通讯作者：
N. Correll
中科院分区：
文献类型：
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作者：
Michael W. Otte;N. Correll
提出了一类新的求解多机器人问题的算法--Any-Com算法。有了Any-Com，在通信允许的情况下，可以快速找到并改进次优解(类似于在时间允许的情况下，次优解被改进的“Any-time”)。Any-Com可以通过在所有机器人之间分配工作来缓解解决多机器人问题的高成本，解决方案将受益。当需要完整的算法时，这很有用。以前的算法对通信做出的假设在现实世界中往往是无效的。Any-Com支持在通信允许的情况下协作解决问题，否则优雅的性能会下降。本文提供了Any-Com算法的“配方”，并给出了一个多机器人路径规划和一个多机器人任务分配问题的结果。
We propose a new class of algorithms for multirobot problems called “Any-Com”. With Any-Com, a suboptimal solution is found quickly and refined as communication permits (analogous to “Any-Time” where a suboptimal solution is refined as time permits). Any-Com can be used to mitigate the high cost of solving multi-robot problems by dividing effort among all robots the solution will benefit. This is useful when complete algorithms are desirable. Previous algorithms make assumptions about communication that are often invalid in the real world. Any-Com enables collaborative problem solving as communication permits, with graceful performance declines otherwise. This paper provides a “recipe” for Any-Com algorithms and shows results from a multi-robot path-planning and a multi-robot task allocation problem that exemplify the approach.