Modeling of Task Planning for Multirobot System Using Reputation Mechanism
Modeling of task planning for multirobot system is developed from two parts: task decomposition and task allocation. In the part of task decomposition, the conditions and processes of decomposition are elaborated. In the part of task allocation, the collaboration strategy, the framework of reputatio...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2014-01-01
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| Series: | The Scientific World Journal |
| Online Access: | http://dx.doi.org/10.1155/2014/818701 |
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| _version_ | 1850235082173841408 |
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| author | Zhiguo Shi Jun Tu Yuankai Li Junming Wei |
| author_facet | Zhiguo Shi Jun Tu Yuankai Li Junming Wei |
| author_sort | Zhiguo Shi |
| collection | DOAJ |
| description | Modeling of task planning for multirobot system is developed from two parts: task decomposition and task allocation. In the part of task decomposition, the conditions and processes of decomposition are elaborated. In the part of task allocation, the collaboration strategy, the framework of reputation mechanism, and three types of reputations are defined in detail, which include robot individual reputation, robot group reputation, and robot direct reputation. A time calibration function and a group calibration function are designed to improve the effectiveness of the proposed method and proved that they have the characteristics of time attenuation, historical experience related, and newly joined robot reward. Tasks attempt to be assigned to the robot with higher overall reputation, which can help to increase the success rate of the mandate implementation, thereby reducing the time of task recovery and redistribution. Player/Stage is used as the simulation platform, and three biped-robots are established as the experimental apparatus. The experimental results of task planning are compared with the other allocation methods. Simulation and experiment results illustrate the effectiveness of the proposed method for multi-robot collaboration system. |
| format | Article |
| id | doaj-art-1b089909255d4c88b96083e095c2aa87 |
| institution | OA Journals |
| issn | 2356-6140 1537-744X |
| language | English |
| publishDate | 2014-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | The Scientific World Journal |
| spelling | doaj-art-1b089909255d4c88b96083e095c2aa872025-08-20T02:02:25ZengWileyThe Scientific World Journal2356-61401537-744X2014-01-01201410.1155/2014/818701818701Modeling of Task Planning for Multirobot System Using Reputation MechanismZhiguo Shi0Jun Tu1Yuankai Li2Junming Wei3School of Computer and Communication Engineering, University of Science and Technology, Beijing 100083, ChinaSchool of Computer and Communication Engineering, University of Science and Technology, Beijing 100083, ChinaDepartment of Aerospace Engineering, Ryerson University, 350 Victoria Street, Toronto, ON, M5B 2K3, CanadaANU College of Engineering and Computer Science, Australian National University, Canberra, ACT 2601, AustraliaModeling of task planning for multirobot system is developed from two parts: task decomposition and task allocation. In the part of task decomposition, the conditions and processes of decomposition are elaborated. In the part of task allocation, the collaboration strategy, the framework of reputation mechanism, and three types of reputations are defined in detail, which include robot individual reputation, robot group reputation, and robot direct reputation. A time calibration function and a group calibration function are designed to improve the effectiveness of the proposed method and proved that they have the characteristics of time attenuation, historical experience related, and newly joined robot reward. Tasks attempt to be assigned to the robot with higher overall reputation, which can help to increase the success rate of the mandate implementation, thereby reducing the time of task recovery and redistribution. Player/Stage is used as the simulation platform, and three biped-robots are established as the experimental apparatus. The experimental results of task planning are compared with the other allocation methods. Simulation and experiment results illustrate the effectiveness of the proposed method for multi-robot collaboration system.http://dx.doi.org/10.1155/2014/818701 |
| spellingShingle | Zhiguo Shi Jun Tu Yuankai Li Junming Wei Modeling of Task Planning for Multirobot System Using Reputation Mechanism The Scientific World Journal |
| title | Modeling of Task Planning for Multirobot System Using Reputation Mechanism |
| title_full | Modeling of Task Planning for Multirobot System Using Reputation Mechanism |
| title_fullStr | Modeling of Task Planning for Multirobot System Using Reputation Mechanism |
| title_full_unstemmed | Modeling of Task Planning for Multirobot System Using Reputation Mechanism |
| title_short | Modeling of Task Planning for Multirobot System Using Reputation Mechanism |
| title_sort | modeling of task planning for multirobot system using reputation mechanism |
| url | http://dx.doi.org/10.1155/2014/818701 |
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