Paper Info
Title
Coordinating a heterogeneous robot swarm using Robot Utility-based Task Assignment (RUTA)
Abstract
The goal of this work is the development of a task-oriented software application that facilitates the rapid deployment of multiple robotic agents. The task solutions are created at run-time and executed by the agents in a centralized or decentralized fashion. Tasks are divided into smaller sub-tasks which are then assigned to the optimal number of robots using Robot Utility Based Task Assignment (RUTA) algorithm. The system deploys these robots using its application program interfaces (API's) and uploads programs that are integrated with a small routine code. The embedded routine allows robots to configure solutions when decentralized approach is adopted.
Year
DOI
Venue
2016
10.1109/AMC.2016.7496328
2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)
Keywords
Field
DocType
Multi-robot task allocation,Decentralized utility-based task assignment,Heterogeneous Robot Swarm
Social robot,Robot control,Swarm behaviour,Computer science,Personal robot,Robot kinematics,Real-time computing,Software,Robot,Mobile robot
Conference
ISSN
Citations 
PageRank 
1943-6572
0
0.34
References 
Authors
9
4
Name
Order
Citations
PageRank
Tamer Abukhalil100.68
Madhav Patil200.68
Sarosh H. Patel392.94
Tarek M. Sobh443555.11