Distributed Service-Based Cooperation in Aerial/Ground Robot Teams Applied to Fire Detection and Extinguishing Missions
Distributed Service-Based Cooperation in Aerial/Ground Robot Teams Applied to Fire Detection and Extinguishing Missions
复制标题
基于分布式服务的空中/地面机器人团队协作应用于火灾探测和灭火任务
DOI：
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发表时间：
2010
期刊：
影响因子：
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通讯作者：
A. Ollero
中科院分区：
文献类型：
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作者：
A. Viguria;Iván Maza;A. Ollero
本文提出了一种空中和地面机器人的协调系统，用于应急管理中的监视和干预等应用。描述了系统的总体架构。机器人之间协调的一个重要部分是任务分配策略。为了解决需要多个机器人协作完成所有任务的应用中的多机器人任务分配问题，提出了一种基于市场的分布式算法S+T。使用该算法，机器人可以在任务执行过程中动态地为其他机器人提供运输和通信中继服务。此外，本文还给出了一个异类机器人团队(空中和地面)协同完成火灾探测和灭火任务的演示。
This paper presents a system for the coordination of aerial and ground robots for applications such as surveillance and intervention in emergency management. The overall system architecture is described. An important part for the coordination between robots is the task allocation strategy. A distributed market-based algorithm, called S + T, has been developed to solve the multi-robot task allocation problem in applications that require cooperation among the robots to accomplish all the tasks. Using this algorithm, robots can provide transport and communication relay services dynamically to other robots during the missions. Moreover, the paper presents a demonstration with a team of heterogeneous robots (aerial and ground) cooperating in a mission of fire detection and extinguishing.