.png){kind=icon}
返回
Multiple Traveling Robot Problem: A Solution Based on Dynamic Task Selection and Robust Execution
.png){kind=icon}
PRE
AI
DOI：10.1109/TMECH.2009.2014157.png)
.png){kind=icon}
原文求助.png){kind=icon}
分享.png){kind=icon}
收藏
摘要
En 中文
The multiple traveling robot problem (MTRP), the real-world version of the well-known NP-hard multiple traveling salesman problem (MTSP), asks for finding routes of robots to visit a set of targets. Various objectives may be defined for this problem (e.g., minimization of total path length, time, etc.). The overall solution quality is dependent on both the quality of the solution constructed by the paths of robots and the efficient allocation of the targets to robots. Unpredictability of the exact processing times of tasks, unstable cost values during execution, and inconsistencies due to uncertain information further complicate MTRP. This paper presents a multirobot cooperation framework employing a dynamic task selection scheme to solve MTRP. The proposed framework carries out an incremental task allocation method that dynamically adapts to current conditions of the environment, thus handling diverse contingencies. Globally efficient solutions are obtained through mechanisms that result in the allocation of the most suitable tasks from dynamically generated priority-based rough schedules. Since the presented approach is for real-world task execution, computational requirements are kept at a minimum, and the framework is designed to be applicable on real robots even with limited capabilities. The efficiency and the robustness of the proposed scheme is evaluated through experiments both in simulations and on real robots.
Keyword:
Distributed multirobot task allocation
incremental task selection
multiple traveling robot problem (MTRP)
robustness
AI总结
对已上传原文的论文进行重点信息的提取，主要内容包括：简要概述、研究摘要、背景介绍、关键亮点、图文解析、展望与总结。
期刊
I
IF:
7.3
论文数:
5.4K
被引数:
2.4W
机构
引用论文
Naval mine countermeasure missions - A distributed, incremental multirobot task selection scheme
PREAI
分享收藏分享收藏Influence of Variable Moisture Conditions on the Value of the Thermal Conductivity of Selected Insulation Materials Used in Passive Buildings.png)
Energies
OAAI
EnergiesIF0
OAAI分享收藏Injury-Dependent and Disability-Specific Lumbar Spinal Gene Regulation following Sciatic Nerve Injury in the Rat大鼠坐骨神经损伤后损伤依赖性和残疾特异性腰椎基因调控PLOS ONE
OAAI
PLOS ONEIF0
OAAI分享收藏
查看更多内容