A distributed tasks allocation scheme in multi-UAV context
A distributed tasks allocation scheme in multi-UAV context
复制标题
DOI：
10.1109/robot.2004.1308816
复制
发表时间：
2004-07
期刊：
影响因子：
--
通讯作者：
Thomas Lemaire;R. Alami;S. Lacroix
中科院分区：
文献类型：
--
作者：
Thomas Lemaire;R. Alami;S. Lacroix
研究了多机器人系统中的任务分配问题。我们提出了一个完全分布式的架构，机器人动态分配他们的任务，而他们正在建立自己的计划。我们首先专注于简单的“后藤”任务分配的问题：我们的方法涉及到一个增量的任务分配算法的基础上的合同网协议。我们引入了一个参数，称为公平系数，以平衡不同的机器人之间的工作量，并控制拍卖过程的触发。然后，我们通过动态指定任务之间的临时层次结构来解决任务之间的时间约束所带来的问题。在模拟中运行的测试量化了我们改进的好处。
This paper deals with the task allocation problem in multi-robot systems. We propose a completely distributed architecture, where robots dynamically allocate their tasks while they are building their plans. We first focus on the problem of simple "goto" tasks allocation: our approach involves an incremental task allocation algorithm based on the Contract-Net protocol. We introduce a parameter called equity coefficient in order to equilibrate the workload between the different robots and to control the triggering of the auction process. Then, we address the problem raised by temporal constraints between tasks by dynamically specifying temporary hierarchies among the tasks. Tests run in simulation quantify the benefits of our improvements.