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Cluster-based Multi...
Cluster-based Multi-Robot Task Assignment, Planning, and Control
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- Bai, Yifan (författare)
- Luleå tekniska universitet,Signaler och system
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- Lindqvist, Björn (författare)
- Luleå tekniska universitet,Signaler och system
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- Nordström, Samuel (författare)
- Luleå tekniska universitet,Signaler och system
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- Kanellakis, Christoforos (författare)
- Luleå tekniska universitet,Signaler och system
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- Nikolakopoulos, George (författare)
- Luleå tekniska universitet,Signaler och system
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(creator_code:org_t)
- Springer Nature, 2024
- 2024
- Engelska.
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Ingår i: International Journal of Control, Automation and Systems. - : Springer Nature. - 1598-6446 .- 2005-4092. ; 22:8, s. 2537-2550
- Relaterad länk:
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https://urn.kb.se/re...
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https://doi.org/10.1...
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Abstract
Ämnesord
Stäng
- This paper presents a complete system architecture for multi-robot coordination for unbalanced task assignments, where a number of robots are supposed to visit and accomplish missions at different locations. The proposed method first clusters tasks into clusters according to the number of robots, then the assignment is done in the form of one-cluster-to-one-robot, followed by solving the traveling salesman problem (TSP) to determine the visiting order of tasks within each cluster. A nonlinear model predictive controller (NMPC) is designed for robots to navigate to their assigned tasks while avoiding colliding with other robots. Several simulations are conducted to evaluate the feasibility of the proposed architecture. Video examples of the simulations can be viewed at https://youtu.be/5C7zTnv2sfo and https://youtu.be/-JtSg5V2fTI?si=7PfzZbleOOsRdzRd. Besides, we compare the cluster-based assignment with a simulated annealing (SA) algorithm, one of the typical solutions for the multiple traveling salesman problem (mTSP), and the result reveals that with a similar optimization effect, the cluster-based assignment demonstrates a notable reduction in computation time. This efficiency becomes increasingly pronounced as the task-to-agent ratio grows.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)
Nyckelord
- Autonomous robots
- Hungarian algorithm
- multi-robot systems
- task assignment
- Robotics and Artificial Intelligence
- Robotik och artificiell intelligens
Publikations- och innehållstyp
- ref (ämneskategori)
- art (ämneskategori)
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