Flexible dynamic task allocation in cooperative mission-based robotic systems
Document Type
Conference Proceeding
Publication Date
7-29-2010
Abstract
Mission-based multi-robot systems (MRS) require the ability to quickly adapt to different missions while maintaining the innate advantages of cooperation and fault tolerance. This requires a flexible architecture capable of adapting to real-time changes in the system while dynamically assigning tasks to available drones. The provided mobile agent-based dynamic task allocation architecture enables non-centralized methods for allocating tasks to a heterogeneous system of mobile robots. The architecture utilizes three types of intelligent software agents including a mobile task agent, stationary control agent, and a mobile behavior agent. A mobile task agent is used to automatically collect the next available task and communicates with the onboard stationary control agent in order to complete the desired task. A mobile behavior agent is used to automatically gather the robot specific behaviors necessary to execute the low-level reactive control system required for the task. A case study involving border patrolling demonstrates the feasibility of the dynamic task allocation architecture. A simple yet effective wall-following behavior algorithm is given. Copyright © 2009 by ASME.
Publication Title
Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009
Recommended Citation
Nestinger, S.,
Cheng, H.,
&
Chen, B.
(2010).
Flexible dynamic task allocation in cooperative mission-based robotic systems.
Proceedings of the ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference 2009, DETC2009,
3, 127-134.
http://doi.org/10.1115/DETC2009-87627
Retrieved from: https://digitalcommons.mtu.edu/michigantech-p/11783
