지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2013.10
- 수록면
- 1,694 - 1,699 (6page)
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초록· 키워드
오류제보하기
Remotely operating teams of autonomous mobile robots for multi-task allocations in an unknown environment is an important and challenging task in many real world applications. However, a few of existing teleoperation methods have been aimed at finishing multiple tasks simultaneously when the environment that the robots are navigating is unknown. In real life, in order to achieve this, a teleoperated team of mobile robots can be split into several collaborative sub-teams according to their characteristics about different tasks. Each sub-team is formed by pairing team robots to a specific task to make sure of an enough capability of automatically sensing environments and accomplishing the specific task. Moreover, the robot-task pairing strategy based on the capability list of robots in a weighted attack guidance table (WAGT) is developed from the proven auction algorithm for multi-robot multi-task cases, which optimizes effects-based allocations based on a heuristic algorithm. In this paper, a control method to teleoperate teams or sub-teams of robots involving the robot-task pairing strategy is proposed to deal with different tasks simultaneously in an unknown environment. Simulation studies illustrate the efficacy of a teleoperator with the proposed control method for multi-task scenarios in an unknown environment.
목차
Abstract
1. INTRODUCTION
2. A SINGLE-MASTER MULTI-SLAVE (SMMS) METHOD WITH LEADER-FOLLOWER FORMATION & ROBOT-TASK-TARGET PAIRING
3. SIMULATION STUDIES
4. CONCLUSION & FUTUREWORK
REFERENCES
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