Simultaneous Task Subdivision and Allocation for Teams of Heterogeneous Robots

被引：0
|
作者：
Rossi, Claudio [1 ]
Aldama, Leyre [1 ]
Barrientos, Antonio [1 ]
机构：
[1] Univ Politecn Madrid, Robot & Cybernet Res Grp, Madrid, Spain
来源：
ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7 | 2009年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we present a negotiation protocol for simultaneous task subdivision and allocation for heterogeneous multi-robot systems. An abstraction of the concept of task is presented that allows to apply the protocol on a variety of tasks. The negotiation adopts Rubinstein's alternate offers protocol, where offers are evaluated and generated using a heuristic search step. The protocol has been tested on computer simulations.
引用
收藏
页码：764 / 769
页数：6
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