Single Robot Multitasking Through Dynamic Resource Allocation
Single Robot Multitasking Through Dynamic Resource Allocation
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DOI：
10.1109/humanoids57100.2023.10375225
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发表时间：
2023-12
期刊：
影响因子：
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通讯作者：
Tyler Becker;Song Jiang;David Feil-Seifer;M. Nicolescu
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文献类型：
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作者：
Tyler Becker;Song Jiang;David Feil-Seifer;M. Nicolescu
本文讨论的问题，机器人资源的动态分配任务的层次表示和多种类型的执行约束，使单机器人多任务的能力的目标。虽然绝大多数机器人平台都配备了一个以上的传感器（摄像头，激光器，声纳）和几个致动器（轮子/腿，两个手臂），这将在原则上允许机器人同时工作在多个任务，现有的方法仅限于分配机器人在其整体上只有一个任务的时间。这种方法只使用机器人的传感器和执行器的一个子集，而不使用其他机器人资源。我们的目标是使机器人充分利用其能力，有一个单独的机器人多任务，分配其传感器和执行器多个并发的活动。我们提出了一个新的架构框架的基础上分层任务树，支持多任务，通过一个新的表示机器人的行为，明确编码的机器人资源（传感器和执行器）和执行所需的环境条件。这种架构进行了验证双臂，移动的，PR 2人形机器人，执行任务的多种类型的执行约束。
This paper addresses the problem of dynamic allocation of robot resources to tasks with hierarchical representations and multiple types of execution constraints, with the goal of enabling single-robot multitasking capabilities. Although the vast majority of robot platforms are equipped with more than one sensor (cameras, lasers, sonars) and several actuators (wheels/legs, two arms), which would in principle allow the robot to concurrently work on multiple tasks, existing methods are limited to allocating robots in their entirety to only one task at a time. This approach employs only a subset of a robot's sensors and actuators, leaving other robot resources unused. Our aim is to enable a robot to make full use of its capabilities by having an individual robot multitask, distributing its sensors and actuators to multiple concurrent activities. We propose a new architectural framework based on Hierarchical Task Trees that supports multitasking through a new representation of robot behaviors that explicitly encodes the robot resources (sensors and actuators) and the environmental conditions needed for execution. This architecture was validated on a two-arm, mobile, PR2 humanoid robot, performing tasks with multiple types of execution constraints.