Distributed and dynamic task reallocation in robot organizations
Distributed and dynamic task reallocation in robot organizations
复制标题
机器人组织中的分布式动态任务重新分配
DOI：
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发表时间：
2002
期刊：
影响因子：
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通讯作者：
B. Salemi
中科院分区：
文献类型：
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作者：
Wei;B. Salemi
多机器人组织中的任务重分配是将分解后的全局任务分配给各个机器人的过程。这个过程必须是分布式的和动态的，因为它依赖于只能在执行使命期间获得的关键信息。本文提出了一种表示这一具有挑战性的问题，并提出了一种算法，允许成员机器人交易任务和责任自主。初步结果表明，该算法确实可以提高组织绩效的效率，并在使命执行过程中构造局部最优（爬山）任务分配。
Task reallocation in a multi-robot organization is a process that distributes a decomposed global task to individual robots. This process must be distributed and dynamic because it relies on critical information that can only be obtained during mission execution. The paper presents a representation for this challenging problem and proposes an algorithm that allows member robots to trade tasks and responsibilities autonomously. Preliminary results show that such an algorithm can indeed improve the efficiency of organizational performance and construct a locally optimal (hill climbing) task allocation during mission execution.