8,923 research outputs found
A Survey and Analysis of Multi-Robot Coordination
International audienceIn the field of mobile robotics, the study of multi-robot systems (MRSs) has grown significantly in size and importance in recent years. Having made great progress in the development of the basic problems concerning single-robot control, many researchers shifted their focus to the study of multi-robot coordination. This paper presents a systematic survey and analysis of the existing literature on coordination, especially in multiple mobile robot systems (MMRSs). A series of related problems have been reviewed, which include a communication mechanism, a planning strategy and a decision-making structure. A brief conclusion and further research perspectives are given at the end of the paper
On the problem of task planning in Multi-Robot Systems
International audienceMulti-robot task planning (MRTP) is one of the fundamental problems for multi-robot systems. An important question facing this research topic is, which robot should execute which task so as the expected overall system performance can be maximized? Many approaches have been proposed for such a purpose. This paper investigates the existing works in the field. The approaches have been surveyed and some representatives are compared with detailed results. A brief discussion and further research perspectives are also given at the end of the paper
A Mechanism for Dynamic Coordination of Multiple Robots
In this paper, we present a mechanism for coordinating multiple robots in the execution of cooperative tasks. The basic idea in the paper is to assign to each robot in the team, a role that determines its actions during the cooperation. The robots dynamically assume and exchange roles in a synchronized manner in order to perform the task successfully, adapting to unexpected events in the environment. We model this mechanism using a hybrid systems framework and apply it in different cooperative tasks: cooperative manipulation and cooperative search and transportation. Simulations and real experiments demonstrating the effectiveness of the proposed mechanism are presented
Coordination of Mobile Mules via Facility Location Strategies
In this paper, we study the problem of wireless sensor network (WSN)
maintenance using mobile entities called mules. The mules are deployed in the
area of the WSN in such a way that would minimize the time it takes them to
reach a failed sensor and fix it. The mules must constantly optimize their
collective deployment to account for occupied mules. The objective is to define
the optimal deployment and task allocation strategy for the mules, so that the
sensors' downtime and the mules' traveling distance are minimized. Our
solutions are inspired by research in the field of computational geometry and
the design of our algorithms is based on state of the art approximation
algorithms for the classical problem of facility location. Our empirical
results demonstrate how cooperation enhances the team's performance, and
indicate that a combination of k-Median based deployment with closest-available
task allocation provides the best results in terms of minimizing the sensors'
downtime but is inefficient in terms of the mules' travel distance. A
k-Centroid based deployment produces good results in both criteria.Comment: 12 pages, 6 figures, conferenc
Multi-Agent Task Allocation for Robot Soccer
This is the published version. Copyright De GruyterThis paper models and analyzes task allocation methodologies for multiagent systems. The evaluation process was implemented as a collection of simulated soccer matches. A soccer-simulation software package was used as the test-bed as it provided the necessary features for implementing and testing the methodologies. The methodologies were tested through competitions with a number of available soccer strategies. Soccer game scores, communication, robustness, fault-tolerance, and replanning capabilities were the parameters used as the evaluation criteria for the mul1i-agent systems
Mean-Field-Type Games in Engineering
A mean-field-type game is a game in which the instantaneous payoffs and/or
the state dynamics functions involve not only the state and the action profile
but also the joint distributions of state-action pairs. This article presents
some engineering applications of mean-field-type games including road traffic
networks, multi-level building evacuation, millimeter wave wireless
communications, distributed power networks, virus spread over networks, virtual
machine resource management in cloud networks, synchronization of oscillators,
energy-efficient buildings, online meeting and mobile crowdsensing.Comment: 84 pages, 24 figures, 183 references. to appear in AIMS 201
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