Paper Info
Title
Cooperative transport by multiple mobile robots in unknown static environments associated with real-time task assignment
Abstract
This paper deals with a task-assignment architecture for cooperative transport by multiple mobile robots in an unknown static environment. The architecture should satisfy three features: deal with a variety of tasks in time and space, deal with a large number of tasks compared with the number of robots, and decide behavior in,real time. The authors propose the following approach: We consider the unit of task (task instance) as the job that should be done in a short time by one robot. Based on environmental information, task instances are dynamically generated using task templates. The priority of task instances is evaluated dynamically based on the number of robots and the configuration in the workspace. In addition, we avoid generating too many task instances by suppressing object motion. The main part of the architecture consists of two real-time planners: a priority-based task-assignment planner solved by using a linear programming method, and motion planners based on short-time estimation. The effectiveness of the proposed architecture is verified by a cooperative transport simulation in an unknown environment.
Year
DOI
Venue
2002
10.1109/TRA.2002.803464
IEEE T. Robotics and Automation
Keywords
Field
DocType
cooperative systems,mobile robots,multi-robot systems,path planning,real-time systems,transportation,cooperative transport,dynamic task domain,linear programming,motion planning,multiple mobile robots,real time system,task assignment,task-assignment architecture
Motion planning,Robot control,Architecture,Workspace,Computer science,Planner,Real-time computing,Linear programming,Robot,Mobile robot,Distributed computing
Journal
Volume
Issue
ISSN
18
5
1042-296X
Citations 
PageRank 
References 
61
3.03
19
Authors
4
Name
Order
Citations
PageRank
Natsuki Miyata120523.33
Jun Ota2527109.77
Tamio Arai31087189.91
Hajime Asama4826237.10