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DYNAMIC TASK ALLOCATION IN MOBILE ROBOT SYSTEMS USING UTILITY FUNTIONS
Title
DYNAMIC TASK ALLOCATION IN MOBILE ROBOT SYSTEMS USING UTILITY FUNTIONS.
Creator
Vander Weide, Scott, Bölöni, Ladislau, University of Central Florida
Abstract / Description
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
2008
Identifier
CFE0002274, ucf:47871
Format
Document (PDF)
PURL
http://purl.flvc.org/ucf/fd/CFE0002274
COALITION FORMATION AND TEAMWORK IN EMBODIED AGENTS
Title
COALITION FORMATION AND TEAMWORK IN EMBODIED AGENTS.
Creator
Khan, Majid, Blni, Ladislau, University of Central Florida
Abstract / Description
Embodied agents are agents acting in the physical world, such as persons, robots, unmanned air or ground vehicles and so on. These types of agents are subject to spatio-temporal constraints, which do not exist for agents acting in a virtual environment. The movement of embodied agents is limited by obstacles and maximum velocity, while their communication is limited by the transmission range of their wireless devices. This dissertation presents contributions to the techniques of coalition...
Show moreEmbodied agents are agents acting in the physical world, such as persons, robots, unmanned air or ground vehicles and so on. These types of agents are subject to spatio-temporal constraints, which do not exist for agents acting in a virtual environment. The movement of embodied agents is limited by obstacles and maximum velocity, while their communication is limited by the transmission range of their wireless devices. This dissertation presents contributions to the techniques of coalition formation and teamwork coordination for embodied agents. We considered embodied agents in three different settings, each of them representative of a class of practical applications. First, we study coalition formation in the one dimensional world of vehicles driving on a highway. We assume that vehicles can communicate over short distances and carry agents which can advise the driver on convoy formation decisions. We introduce techniques which allow vehicles to influence the speed of the convoys, and show that this yields convoys which have a higher utility for the participating vehicles. Second, we address the problem of coalition formation in the two dimensional world. The application we consider is a disaster response scenario. The agents are forming coalitions through a multi-issue negotiation with spatio-temporal components where the coalitions maintain a set of commitments towards participating agents. Finally, we discuss a scenario where embodied agents form coalitions to optimally address dynamic, non-deterministic, spatio-temporal tasks. The application we consider is firefighters acting in a disaster struck city.
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Date Issued
2007
Identifier
CFE0001843, ucf:47334
Format
Document (PDF)
PURL
http://purl.flvc.org/ucf/fd/CFE0001843
The Effects of Diagnostic Aiding on Situation Awareness under Robot Unreliability
Title
The Effects of Diagnostic Aiding on Situation Awareness under Robot Unreliability.
Creator
Schuster, David, Jentsch, Florian, Szalma, James, Mouloua, Mustapha, Shumaker, Randall, University of Central Florida
Abstract / Description
In highly autonomous robotic systems, human operators are able to attend to their own, separate tasks, but robots still need occasional human intervention. In this scenario, it may be difficult for human operators to determine the status of the system and environment when called upon to aid the robot. The resulting lack of situation awareness (SA) is a problem common to other automated systems, and it can lead to poor performance and compromised safety. Existing research on this problem...
Show moreIn highly autonomous robotic systems, human operators are able to attend to their own, separate tasks, but robots still need occasional human intervention. In this scenario, it may be difficult for human operators to determine the status of the system and environment when called upon to aid the robot. The resulting lack of situation awareness (SA) is a problem common to other automated systems, and it can lead to poor performance and compromised safety. Existing research on this problem suggested that reliable automation of information processing, called diagnostic aiding, leads to better operator SA. The effects of unreliable diagnostic aiding, however, were not well understood. These effects are likely to depend on the ability of the operator to perform the task unaided. That is, under conditions in which the operator can reconcile their own sensing with that of the robot, the influence of unreliable diagnostic aiding may be more pronounced. When the robot is the only source of information for a task, these effects may be weaker or may reverse direction. The purpose of the current experiment was to determine if SA is differentially affected by unreliability at different levels of unaided human performance and at different stages of diagnostic aiding. This was accomplished by experimentally manipulating the stage of diagnostic aiding, robot reliability, and the ability of the operator to build SA unaided. Results indicated that while reliable diagnostic aiding is generally useful, unreliable diagnostic aiding has effects that depend on the amount of information available to operators in the environment. This research improves understanding of how robots can support operator SA and can guide the development of future robots so that humans are most likely to use them effectively.
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Date Issued
2013
Identifier
CFE0005247, ucf:50577
Format
Document (PDF)
PURL
http://purl.flvc.org/ucf/fd/CFE0005247