TY - GEN
T1 - A novel scenario of task planning for multi-robot collaboration system
AU - Shi, Zhiguo
AU - Hu, Kaihang
AU - Tu, Jun
AU - Wang, Zhiliang
AU - Wei, Junming
PY - 2012
Y1 - 2012
N2 - The paper carefully elaborates the current research of the mission planning for multi-robot system in foreign countries. Then introducing a novel method of mission planning which includes task decomposition and task allocation. Tasks divide into decomposable and non-decomposable, only to meet certain conditions, which is decomposable; necessary and sufficient conditions for decomposability of a task with respect to parallel composition and natural projections. This paper mainly researches on the decomposable task and introduces four decomposability conditions. In addition, the task allocation introduced is based on reputation, which is gained from the evaluation of the completion of historical tasks. Task attempts to be assigned to the robot with relatively higher reputation, which can greatly improve the success rate of its mandate implementation. Finally, simulation and experiment's results have shown that the model can be used in a multi-robot collaboration system, and has good efficiency.
AB - The paper carefully elaborates the current research of the mission planning for multi-robot system in foreign countries. Then introducing a novel method of mission planning which includes task decomposition and task allocation. Tasks divide into decomposable and non-decomposable, only to meet certain conditions, which is decomposable; necessary and sufficient conditions for decomposability of a task with respect to parallel composition and natural projections. This paper mainly researches on the decomposable task and introduces four decomposability conditions. In addition, the task allocation introduced is based on reputation, which is gained from the evaluation of the completion of historical tasks. Task attempts to be assigned to the robot with relatively higher reputation, which can greatly improve the success rate of its mandate implementation. Finally, simulation and experiment's results have shown that the model can be used in a multi-robot collaboration system, and has good efficiency.
KW - Multi-robot
KW - collaboration
KW - decomposability condition
KW - task decomposition
UR - http://www.scopus.com/inward/record.url?scp=84872329859&partnerID=8YFLogxK
U2 - 10.1109/WCICA.2012.6359101
DO - 10.1109/WCICA.2012.6359101
M3 - Conference contribution
SN - 9781467313988
T3 - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
SP - 3770
EP - 3775
BT - WCICA 2012 - Proceedings of the 10th World Congress on Intelligent Control and Automation
T2 - 10th World Congress on Intelligent Control and Automation, WCICA 2012
Y2 - 6 July 2012 through 8 July 2012
ER -