Current Search: mobile robots (x)
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Title
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DYNAMIC TASK ALLOCATION IN MOBILE ROBOT SYSTEMS USING UTILITY FUNTIONS.
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Creator
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Vander Weide, Scott, Bölöni, Ladislau, University of Central Florida
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Abstract / Description
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We define a novel algorithm based on utility functions for dynamically allocating tasks to mobile robots in a multi-robot system. The algorithm attempts to maximize the performance of the mobile robot while minimizing inter-robot communications. The algorithm takes into consideration the proximity of the mobile robot to the task, the priority of the task, the capability required by the task, the capabilities of the mobile robot, and the rarity of the capability within the population of mobile...
Show moreWe define a novel algorithm based on utility functions for dynamically allocating tasks to mobile robots in a multi-robot system. The algorithm attempts to maximize the performance of the mobile robot while minimizing inter-robot communications. The algorithm takes into consideration the proximity of the mobile robot to the task, the priority of the task, the capability required by the task, the capabilities of the mobile robot, and the rarity of the capability within the population of mobile robots. We evaluate the proposed algorithm in a simulation study and compare it to alternative approaches, including the contract net protocol, an approach based on the knapsack problem, and random task selection. We find that our algorithm outperforms the alternatives in most metrics measured including percent of tasks complete, distance traveled per completed task, fairness of execution, number of communications, and utility achieved.
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Date Issued
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2008
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Identifier
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CFE0002274, ucf:47871
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Format
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Document (PDF)
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PURL
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http://purl.flvc.org/ucf/fd/CFE0002274
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Title
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Approximated Control Affine Dynamics Mode For an Agricultural Field Robot Considering Wheel Terrain Interaction.
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Creator
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Menendez-Aponte, Pablo, Xu, Yunjun, Lin, Kuo-Chi, Moslehy, Faissal, University of Central Florida
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Abstract / Description
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As populations and the demand for higher crop yields grow, so to does the need forefficient agricultural wheeled mobile robots. To achieve precise navigation through a fieldit is desirable that the control system is designed based on an accurate dynamic model. Inthis paper a control affine model for a custom designed skid-steer differential drive wheeledmobile robot is found. The Terramechanic wheel terrain interaction is adopted and modifiedto consider wheels with a torus geometry. Varying...
Show moreAs populations and the demand for higher crop yields grow, so to does the need forefficient agricultural wheeled mobile robots. To achieve precise navigation through a fieldit is desirable that the control system is designed based on an accurate dynamic model. Inthis paper a control affine model for a custom designed skid-steer differential drive wheeledmobile robot is found. The Terramechanic wheel terrain interaction is adopted and modifiedto consider wheels with a torus geometry. Varying slip ratios and slip angles are consideredin the terrain reaction forces, which is curve-fitted using a nonlinear least squares approachsuch that the achieved model is control affine. The parameters in the proposed model isidentified through an extended Kalman filter so that the state variables in the model arematched. Both simulation and experiments in a commercial farm validated the proposedmodel and the identification approach.
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Date Issued
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2016
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Identifier
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CFE0006480, ucf:51410
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Format
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Document (PDF)
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PURL
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http://purl.flvc.org/ucf/fd/CFE0006480
