상세정보
학술대회
Task Allocation Strategy of Heterogeneous Multi-Robot for Indoor Surveillance
- 발행일
- 201111
- 출처
- International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) 2011, pp.169-173
- 협약과제
- 11MC2800, 비정형 환경 대응 네트워크기반 군집지능 로봇기술 개발, 조영조
- 초록
- Multi-robot cooperation promises increased performance and fault-tolerance in large-scale environments. To achieve the goal with these features, dynamic task allocation algorithm is required to adapt changing environment. Whereas previous researches mostly have been done for simplifying the mission and emphasizing the task allocation algorithm, this paper addresses the needs to analyze the mission more concretely and introduces a strategy for the task allocation problem: off-line and on-line analyses. The off-line analysis takes the robot-working scenario into account statically before deploying the robots. The on-line analysis considers the real time task allocation algorithm while running the robots. Combining these two analyses, efficient task allocation is achieved with minimum cost. © 2011 IEEE.
- KSP 제안 키워드
- Changing environment, Dynamic task allocation, Fault tolerance, Minimum cost, Multi-robot cooperation, Off-Line Analysis, On-line Analysis, Real-time task, Task allocation algorithm, Task allocation strategy, allocation problem