<-上一篇/Previous Article 下一篇/Next Article->

[1]张? 嵛,刘淑华.多机器人任务分配的研究与进展[J].智能系统学报,2008,3(2):115-120.
　ZHANG Yu,LIU Shu-hua.Survey of multirobot task allocation[J].CAAI Transactions on Intelligent Systems,2008,3(2):115-120.

点击复制

多机器人任务分配的研究与进展

PDF下载 HTML

《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷: 3 期数: 2008年第2期页码: 115-120 栏目: 综述出版日期: 2008-04-25

Title:: Survey of multirobot task allocation

文章编号:: 1673-4785(2008)02-0115-06

作者:: 张? 嵛，刘淑华; 东北师范大学计算机学院，吉林长春130117

Author(s):: ZHANG Yu, LIU Shu-hua; School of Computer Science, Northeast Normal University, Chang chun 130117,China

关键词:: 多机器人; 任务分配; 拍卖算法; 群体智能

Keywords:: multirobot; task allocation; auction algorithm; swarm intelligence

分类号:: TP242

文献标志码:: A

摘要:: 从多机器人任务分配的类型、任务分配方法、任务的死锁与解除以及各种任务分配算法的对比等4个方面，对多机器人任务分配的最新研究进展进行了概述.分析了多机器人任务分配的发展趋势，指出动态环境和未知环境下大规模异构机器人任务分配问题的研究是必然趋势，在众多研究方法中，群体智能方法是解决该类问题的未来研究方向.

Abstract:: This paper summarizes the latest developments in multirobot task allocation, including categories of task allocation, methods of task allocation, task deadlock, and its elimination. In addition, trends in methodologies for multirobot task allocation are analyzed and compared. Our analysis shows that largescale task allocation for heterogeneous robots is a major research area and swarm intelligence will be a good choice to solve this kind of task allocation.

参考文献/References:: ［1］GERKEY B P. On multirobot task allocation［D］. Los Angeles: Uni versity of Southern California, 2003.
［2］GERKEY B P, MATARIC M J. A formal analysis and taxonomy of task allocation i n multirobot systems［J］.International Journal of Robotics Research, 2004, 23 (9):939954.
［3］ZLOT R, STENTZ A. Complex task allocation for multiple robot［C］// Pro c IEEE Int Conf Robot Autom (ICRA).［S.l.］.2005: 15151522.
［4］GERKEY B P, MATARIC M J. Multirobot task allocation: analyzing the compl exi ty and optimality of key architectures［C］// Proceedings of the IEEE Interna tional Conference on Robotics and Automation.Taiwan,China,2003: 38623868.
［5］PARKER L E.ALLIANCE：an architecture for fault tolerant multirobot coopera tion［J］. IEEE Transactions on Robotics and Automation,1998,14(2):22024 0.
［6］WERGER B, MATARIC M J. Broadcast of local eligibility: Behavior based cont ro l for strongly cooperative multirobot teams［C］// Proceedings of Autonomo us Agents.Barcelona,Spain,2000:2122.
［7］TANG Fang, PARKER L E. ASyMTRe: automated synthesis of multirobot task s olu tion through software reconfiguration［C］// Proc of IEEE International Confere nce on Robotics and Automation. ［S.l.］.2005: 15011508.
［8］KALRA N, MARTINOLI A.A comparative study of marketbased and thresholdb ased task allocation［C］// Distributed Autonomous Robotic Systems(DARS).Minneapolis,USA，2006.
［9］SMITH R G. The contract net protocol: high level communication and control i n a distributed problem solver［J］. IEEE Trans on Computers,1980(6): 1104 1113.
［10］CALOUD P, CHOI W, LATOMBE J C, et al. YIM M. Indoor automation with many mobile robots［C］// Proceedings of the IEEE/RSJ International Conference o n Intelligent Robots and Systems. ［S.l.］.1990: 6772.［11］MATARIC M J, SUKHATME G S, OSTERGAARD E H. Multirobot task allocation i n uncertain Environments［J］.Autonomous Robots,2003,14(2): 255263.
［12］ZLOT R, STENTZ A, DIAS M B, et al. Multirobot exploration controlled by a market economy［C］//　Proc of the IEEE Intl Conf on Robotics and Autom ation (ICRA). Washington,USA,2002:30163023. ［13］CHAIMOWICZ L, CAMPOS M, KUMAR V. Dynamic role assignment for cooperative ro bots［C］//　In Proc of the IEEE intl Conf on Robotics and Automation(ICRA). Washington,USA,2002: 293298.
［14］GAO Ping′an. Multirobot task allocation for exploration［J］. Journal CSUT,2006,13(5):548551.
［15］BETHAUH M, HUANG H, KESKINECAD P. Robot exploration with combinatorial au ct ions［C］//　Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems.Las Vegas,Nevada,2003: 1957 1962.
［16］DIAS M B. TraderBots: a new paradigm for robust and efficient multirobot co ordination in dynamic environments［D］. Pittsburgh: Carnegie Mellon University, 2004.
［17］BOTELHO S, ALAMI R. M+: a scheme for multirobot cooperation through neg oti ated task allocation and achievement［C］//　Proc IEEE Int Conf Robot Aut omat. Detroit,USA,1999:1234 1239.
［18］GERKEY B P, MATARIC M J. Sold!: auction methods for multirobot coordinati on［J］.　IEEE Transactions on Robotics and Automation,2002,18(5):758786.
［19］SARIEL S, BALCH T. A distributed multirobot cooperation framework for r eal time task achievement［C］//　Distributed Autonomous Robotic Systems.Minneapolis,USA,2006:187 196.
［20］VIG L, ADAMS J A. Marketbased multirobot coalition formation［C］// Proc eedings of the 8th International Symposium on Distributed Autonomous Robotic Sys tems.Minneapolis,USA,2006: 227236.
［21］OLIVERRA D, FERREIRA P R, BAZZAZ A L C. A swarm based approach for task a ll ocation in dynamic agents organizations［C］// Autonomous Agents and Multiagent Systems.New York,2004: 12521253.
［22］丁潆颖,何衍,蒋静坪.基于蚁群算法的多机器人协作策略［J］.机器人,200 3, 25(5):414418.
DING Yingying, HE Yan, JIANG Jingping. Multirobot cooperation method based on the ant algorithm［J］. Robot, 2003, 25(5):414418.
［23］ZHANG Dandan, XIE Guangming, YU Junzhi,  WANG Long. Adaptive task a ssignment for multiple mobile robots via swarm intelligence approach［J］. Robo tics and Autonomous Systems,2007,55:572588.
［24］GERKEY B P, MATARIC M J. A framework for studying multirobot task alloc ation［C］// Proceedings of the MultiRobot Systems. Washington,USA,2003:15–26.
［25］BELLINGHAM J, TILERSON M, RICHARDS A, et al. Multitask allocatio n a nd path planning for cooperating uavs［C］// Conference on Coordination, Cont rol and Optimization.Gainesville,USA,2001:119.［26］SCHUMACHER C, CHANDLR P, PACHTER M, et al. Uav task assignment with t im ing constraints［C］// AIAA Guidance, Navigation, and Conference and Exhibit. Arlington, Texas, 2003.
［27］ALIGHANBARI M, KUWATA Y, JONATHAN J H. Coordination and control of multip le uavs with timing constraints and loitering［C］// The American Control Confe rence.Denver,Colorado,2003:53115316.［28］ATAY N, BAYAZIT B. Mixedinteger linear programming solution to multir obot task allocation problem,WUCSE 54［R］. Dept of Computer Science and Engineering, Washin gton University in St Louis, 2006.［29］ATAY N, BAYAZIT B. Emergent task allocation for mobile robots through int en tions and directives,WUCSE 2［R］. Washington: Washington University in St Louis, 2007.
［30］GAGE A, MURPHY R, VALAVANIS K P, LONG M.Affective task allocation for dis t ributed multirobot teams, CRASARTR 26［R］. Center for Robot Assisted Search & Rescue, 2004.
［31］DAHL T S, MATARIC M, SUKHATME G S. Multirobot taskallocation through vaca ncy chains［C］// Proceedings of IEEE International Conference on Robotics an d Automation.［S.l.］.2003: 22932298.
［32］祖丽楠，田彦涛，梅昊.大规模多移动机器人合作任务的分布自主协作系统［J］. 机器人,2006, 28（5）：470477.
ZU Linan, TIAN Yantao, MEI Hao. Distributed autonomous cooperation system for th e largescale cooperation task of multiple mobile robots［J］. Robot, 2006, 28 （5）：470477.
［33］柳林，季秀才，郑志强.基于市场法及能力分类的多机器人任务分配方法［J］. 机器人,2006，28（3）：338343.
LIU Lin, JI Xiucai, ZHENG Zhiqiang. Multirobot task allocation based on mar ket and capability classification［J］. Robot， 2006, 28（3）：338343.

相似文献/References:: [1]石志国,王志良,刘冀伟.异构多机器人协作系统研究进展[J].智能系统学报,2009,4(5):377.[doi:10.3969/j.issn.1673-4785.2009.05.001]
　SHI Zhi-guo,WANG Zhi-liang,LIU Ji-wei.Developments in heterogeneous multi-robot cooperation systems[J].CAAI Transactions on Intelligent Systems,2009,4():377.[doi:10.3969/j.issn.1673-4785.2009.05.001]
[2]杨茂,田彦涛.复杂环境下多机器人觅食路径规划与控制[J].智能系统学报,2013,8(2):162.[doi:10.3969/j.issn.1673-4785.201208022]
　YANG Mao,TIAN Yantao.Foraging path planning and control for multi-robot in complex environment[J].CAAI Transactions on Intelligent Systems,2013,8():162.[doi:10.3969/j.issn.1673-4785.201208022]
[3]任立敏,王伟东,杜志江.移动机器人队形控制关键技术及其进展[J].智能系统学报,2013,8(5):381.[doi:10.3969/j.issn.1673-4785.201302011]
　REN Limin,WANG Weidong,DU Zhijiang.Key technologies and development of? formation control of mobile robots[J].CAAI Transactions on Intelligent Systems,2013,8():381.[doi:10.3969/j.issn.1673-4785.201302011]
[4]程磊,周明达,吴怀宇,等.无线传感器环境下粒子群优化的多机器人协同定位研究[J].智能系统学报,2015,10(1):138.[doi:10.3969/j.issn.1673-4785.201310067]
　CHENG Lei,ZHOU Mingda,WU Huaiyu,et al.Cooperative multi-robot localization based on particle swarm optimization in the environment of wireless sensor[J].CAAI Transactions on Intelligent Systems,2015,10():138.[doi:10.3969/j.issn.1673-4785.201310067]
[5]钱殿伟.基于模糊滑模的多机器人系统编队控制[J].智能系统学报,2016,11(5):641.[doi:10.11992/tis.201510017]
　QIAN Dianwei.Formation control of multi-robot systems in a fuzzy sliding mode[J].CAAI Transactions on Intelligent Systems,2016,11():641.[doi:10.11992/tis.201510017]
[6]屈云豪,丁永生,郝矿荣,等.行军启发的多机器人紧密队形保持策略[J].智能系统学报,2018,13(5):673.[doi:10.11992/tis.201710023]
　QU Yunhao,DING Yongsheng,HAO Kuangrong,et al.March-inspired multi-robot compact formation strategy[J].CAAI Transactions on Intelligent Systems,2018,13():673.[doi:10.11992/tis.201710023]

备注/Memo

收稿日期：2007-09-07.
基金项目：国家自然科学基金资助项目（60573067）
作者简介：
张嵛，女，1983生，硕士研究生，主要研究方向为多移动机器人. 
刘淑华，女，1970生，副教授，博士，主要研究方向为多移动机器人、智能规划.
通讯作者：刘淑华.E-mail:liush129@126.com.

更新日期/Last Update: 2009-05-11

多机器人任务分配的研究与进展 PDF下载HTML

备注/Memo

多机器人任务分配的研究与进展

PDF下载 HTML