Heterogeneous Coverage and Multi-Resource Allocation in Supply-Constrained Teams
Heterogeneous Coverage and Multi-Resource Allocation in Supply-Constrained Teams
复制标题
供应受限团队中的异构覆盖和多资源分配
DOI：
10.1109/icra48891.2023.10160414
复制
发表时间：
2023
期刊：
影响因子：
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通讯作者：
Alyssa Pierson
中科院分区：
文献类型：
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作者：
Mela C. Coffey;Alyssa Pierson
我们考虑一组异构机器人，每个机器人都配备了各种类型和数量的资源，并负责为多个需求领域提供这些资源。我们提出了一种基于Voronoi的覆盖控制方法，通过定义一个位置和时变密度函数来表示在环境中满足需求的质量，将机器人部署到需求区域。这种方法允许机器人以连续、分布式的方式优先考虑各种需求位置。我们目前的分析表明，我们的控制驱动机器人在环境中的关键点，沿着与模拟和硬件在环实验来证明我们的方法。
We consider a team of heterogeneous robots, each equipped with various types and quantities of resources, and tasked with supplying these resources to multiple areas of demand. We propose a Voronoi-based coverage control approach to deploy robots to areas of demand by defining a position- and time-varying density function to represent the quality at which demand is being met in the environment. This approach allows robots to prioritize the various demand locations in a continuous, distributed fashion. We present analyses to show that our controls drive the robots to critical points in the environment, along with simulations and hardware-in-the-loop experiments to demonstrate our approach.
DOI：
10.1109/icra48506.2021.9560960
发表时间：
2020-12
期刊：
2021 IEEE International Conference on Robotics and Automation (ICRA)
影响因子：
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作者：
Brian Reily;Terran Mott;Hao Zhang-
通讯作者：
Brian Reily;Terran Mott;Hao Zhang-
多机器人按需充电的加油调度
DOI：
10.1109/iros51168.2021.9636815
发表时间：
2021
期刊：
International Conference on Intelligent Robots and Systems
影响因子：
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作者：
Gao, Tianshuang;Tian, Yan;Bhattacharya, Sourabh
通讯作者：
Bhattacharya, Sourabh