Consensus-based task sequencing in decentralized multiple-robot systems using local communication Export

@inproceedings{Parker2008Consensusbased, abstract = {Behavior-based controllers for complex missions often are more easily designed by decomposing the mission into a series of smaller subtasks. When applying this technique to a multiple-robot system, the entire system should focus its work on one subtask at a time to prevent interference from robots working on conflicting subtasks simultaneously. We present a behavior-based approach to the task-sequencing problem for decentralized multiple-robot systems requiring only local inter-robot communication. Consensus is used to prevent premature task sequencing. Our algorithm is compared to globally-communicative and communication-free strategies. The proposed task-sequencing behavior is found to be efficient with respect to time and energy requirements, and could be applied to many existing decentralized multiple-robot systems.}, author = {Parker, C. A. C. and Zhang, Hong}, booktitle = {Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on}, citeulike-article-id = {4369188}, citeulike-linkout-0 = {http://dx.doi.org/10.1109/IROS.2008.4651168}, citeulike-linkout-1 = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4651168}, doi = {10.1109/IROS.2008.4651168}, journal = {Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on}, keywords = {communication, coordination, multi-robot, scheduling, task-allocation}, pages = {1421--1426}, posted-at = {2009-04-20 15:27:04}, priority = {2}, title = {Consensus-based task sequencing in decentralized multiple-robot systems using local communication}, url = {http://dx.doi.org/10.1109/IROS.2008.4651168}, year = {2008} }

TY - CONF ID - Parker2008Consensusbased L3 - citeulike-article-id:4369188 N2 - Behavior-based controllers for complex missions often are more easily designed by decomposing the mission into a series of smaller subtasks. When applying this technique to a multiple-robot system, the entire system should focus its work on one subtask at a time to prevent interference from robots working on conflicting subtasks simultaneously. We present a behavior-based approach to the task-sequencing problem for decentralized multiple-robot systems requiring only local inter-robot communication. Consensus is used to prevent premature task sequencing. Our algorithm is compared to globally-communicative and communication-free strategies. The proposed task-sequencing behavior is found to be efficient with respect to time and energy requirements, and could be applied to many existing decentralized multiple-robot systems. JF - Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on EP - 1426 TI - Consensus-based task sequencing in decentralized multiple-robot systems using local communication T2 - Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on SP - 1421 KW - communication KW - coordination KW - multi-robot KW - scheduling KW - task-allocation AU - Parker, CAC AU - Zhang, Hong PY - 2008/// UR - http://dx.doi.org/10.1109/IROS.2008.4651168 ER -