| 2. |
- Forte, Paolo, 1995-, et al.
(författare)
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Online Task Assignment and Coordination in Multi-Robot Fleets
- 2021
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Ingår i: IEEE Robotics and Automation Letters. - : IEEE Press. - 2377-3766. ; 6:3, s. 4584-4591
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Tidskriftsartikel (refereegranskat)abstract
- We propose a loosely-coupled framework for integrated task assignment, motion planning, coordination and contro of heterogeneous fleets of robots subject to non-cooperative tasks. The approach accounts for the important real-world requiremen that tasks can be posted asynchronously. We exploit systematic search for optimal task assignment, where interference is considered as a cost and estimated with knowledge of the kinodynamic models and current state of the robots. Safety is guaranteed by an online coordination algorithm, where the absence of collisions is treated as a hard constraint. The relation between the weight of interference cost in task assignment and computational overhead is analyzed empirically, and the approach is compared against alternative realizations using local search algorithms for task assignment.
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| 3. |
- Machado, Tyrone, et al.
(författare)
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Autonomous Heavy-Duty Mobile Machinery : A Multidisciplinary Collaborative Challenge
- 2021
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Ingår i: Proceedings of the IEEE ICTE Leading Digital Transformation in Business and Society Conference. - : IEEE. - 9781665438957 - 9781665445986
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Konferensbidrag (refereegranskat)abstract
- Heavy-duty mobile machines (HDMMs), are a wide range of off-road machinery used in diverse and critical application areas which are currently facing several issues like skilled labor shortage, safety requirements, and harsh work environments in general. Consequently, efforts are underway to increase automation in HDMMs for increased productivity and safety, eventually transitioning to operator-less autonomous HDMMs to address skilled labor shortages. However, HDMM are complex machines requiring continuous physical and cognitive inputs from human operators. Thus, developing autonomous HDMM is a huge challenge, with current research and developments being performed in several independent research domains. Through this study, we use the bounded rationality concept to propose multidisciplinary collaborations for new autonomous HDMMs and apply the transaction cost economics framework to suggest future implications in the HDMM industry. Furthermore, we introduce and provide a conceptual understanding of the autonomous HDMM industry collaborations as a unified approach, while highlighting the practical implications and challenges of the complex nature of such multidisciplinary collaborations. The collaborative challenges and potentials are mapped out between the following topics: mechanical systems, AI methods, software systems, sensors, data and connectivity, simulations and process optimization, business cases, organization theories, and finally, regulatory frameworks.
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