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http://hdl.handle.net/10397/107425
Title: | A distributed dynamic framework to allocate collaborative tasks based on capability matching in heterogeneous multirobot systems | Authors: | Lee, HY Zhou, P Zhang, B Qiu, L Fan, B Duan, A Tang, J Lam, TL Navarro-Alarcon, D |
Issue Date: | Feb-2024 | Source: | IEEE transactions on cognitive and developmental systems, Feb. 2024, v. 16, no. 1, p. 251-265 | Abstract: | Collaboration among a group of robots with heterogeneous capabilities is an important research problem that enables to combine different robot functionalities, and thus, conducts complex tasks that may be difficult to achieve by a single robot with limited resources. In this article, we propose a new distributed task allocation framework based on the capability matching of heterogeneous robots. The framework is composed of an ontological dynamic knowledge graph model and a hardware control scheme to model the capability and optimize resource utilization for collaborative tasks. We introduce an intuitive hardware control scheme based on a dynamic knowledge graph that resolves possible conflicts between the hardware control of different types of robots. Action sequences are produced by a task and motion planning algorithm to collaboratively perform the assigned task. The performance of the proposed methodology is evaluated by both simulations and hardware experiments. | Keywords: | Capability modeling Cognitive systems Multi-robot systems (MRSs) Resource allocation Task allocation |
Publisher: | Institute of Electrical and Electronics Engineers | Journal: | IEEE transactions on cognitive and developmental systems | ISSN: | 2379-8920 | EISSN: | 2379-8939 | DOI: | 10.1109/TCDS.2023.3264034 | Rights: | © 2023 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. The following publication H. -Y. Lee et al., "A Distributed Dynamic Framework to Allocate Collaborative Tasks Based on Capability Matching in Heterogeneous Multirobot Systems," in IEEE Transactions on Cognitive and Developmental Systems, vol. 16, no. 1, pp. 251-265, Feb. 2024, is available at https://doi.org/10.1109/TCDS.2023.3264034. |
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