Geometric topology based cooperation for multiple robots in adversarial environments

被引：10

作者：

Zhang, Dandan ^{[1
]}

Wang, Long ^{[1
]}

Yu, Junzhi ^{[2
]}

机构：

[1] Peking Univ, Coll Engn, Ctr Syst & Control, Intelligent Control Lab, Beijing 100871, Peoples R China

[2] Chinese Acad Sci, Inst Automat, Beijing 100080, Peoples R China

来源：

CONTROL ENGINEERING PRACTICE | 2008年 / 16卷 / 09期

基金：

中国国家自然科学基金;

关键词：

cooperation; adversarial environment; impact factor; suffering factor; multiple robots;

D O I：

10.1016/j.conengprac.2007.12.004

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper addresses the cooperation problem for a team of mobile robots in adversarial environments. Considering the mutual influence among the robots, two key factors are defined: the impact factor and the suffering factor. A stochastic assignment model is built, based on the geometric topology of the targets, through which the robots can exhibit temporal cooperation. To reduce computational complexity, a genetic algorithm is employed to optimize the relative weights of the impact factor and the suffering factor, and after that, the Improved Hungarian Algorithm is used to solve the assignment problem. Both simulation and experimental results demonstrate the effectiveness of the proposed method. (C) 2007 Elsevier Ltd. All rights reserved.

引用

页码：1092 / 1100

页数：9

共 19 条

[1] Cooperative task assignment of unmanned aerial vehicles in adversarial environments [J].

Alighanbari, M ;

How, JP .

ACC: Proceedings of the 2005 American Control Conference, Vols 1-7, 2005, :4661-4666

[2] Learning control of mobile robots using a multiprocessor system [J].

Antonini, P. ;

Ippoliti, G. ;

Longhi, S. .

CONTROL ENGINEERING PRACTICE, 2006, 14 (11) :1279-1295

[3] Drag reduction in fish-like locomotion [J].

Barrett, DS ;

Triantafyllou, MS ;

Yue, DKP ;

Grosenbaugh, MA ;

Wolfgang, MJ .

JOURNAL OF FLUID MECHANICS, 1999, 392 :183-212

[4] Coordinated target assignment and intercept for unmanned air vehicles [J].

Beard, RW ;

McLain, TW ;

Goodrich, MA ;

Anderson, EP .

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 2002, 18 (06) :911-922

[5]

FANG Y, 2005, P IEEE INT C ROB BIO, P206

[6] Effectiveness of the Nash strategies in competitive multi-team target assignment problems [J].

Galati, DG ;

Simaan, MA .

2004 43RD IEEE CONFERENCE ON DECISION AND CONTROL (CDC), VOLS 1-5, 2004, :4856-4861

[7]

HOSSEIN P, 1990, P IEEE C DEC CONTR

[8]

JUELL P, 2003, 16 INT C COMP APPL I

[9]

Kuhn H. W. W., 1955, Nav.Res. logistics Quart., V2, P83, DOI DOI 10.1002/NAV.20053

[10] Efficiently solving general weapon-target assignment problem by genetic algorithms with greedy eugenics [J].

Lee, ZJ ;

Su, SF ;

Lee, CY .

IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS, 2003, 33 (01) :113-121

← 1 2 →