A Multi-Robot Cooperative System Considering Both Task Allocation and Execution Issues

被引：0
|
作者：
Zhu Yi [1 ,2 ]
Zhang Tao [1 ,2 ]
Song Jingyan [1 ,2 ]
Li Xiaqin [1 ,2 ]
Yan Chuanbo [1 ,2 ]
机构：
[1] Tsinghua Univ, Dept Automat, Beijing 100084, Peoples R China
[2] Natl Key Lab Flight Vehicle Control Integrated Te, Xian, Peoples R China
来源：
2013 32ND CHINESE CONTROL CONFERENCE (CCC) | 2013年
关键词：
Multi-robot cooperation; task allocation; task execution; MOBILE ROBOTS; COORDINATION;
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：
Low-level issues related to task execution are often oversimplified or ignored in research works of multi-robot cooperation. In this paper, a multi-robot cooperative system considering both high-level task allocation issues and low-level task execution issues is proposed. Simulation results show that both task allocation and execution algorithms will affect the system performance, which indicates that it is more reasonable to consider them as an integrated problem rather than independent issues. Practical experiments further verify the applicability of the cooperative system proposed in this paper.
引用
收藏
页码：5920 / 5926
页数：7
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