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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
Optimization problem in single period markets
Title
Optimization problem in single period markets.
Creator
Jiang, Tian, Yong, Jiongmin, Qi, Yuanwei, Shuai, Zhisheng, University of Central Florida
Abstract / Description
There had been a number of researches that investigated on the security market without transactioncosts. The focus of this research is in the area that when the security market with transaction costsis fair and in such fair market how one chooses a suitable portfolio to optimize the financial goal.The research approach adopted in this thesis includes linear algebra and elementary probability.The thesis provides evidence that we can maximize expected utility function to achieve our goal...
Show moreThere had been a number of researches that investigated on the security market without transactioncosts. The focus of this research is in the area that when the security market with transaction costsis fair and in such fair market how one chooses a suitable portfolio to optimize the financial goal.The research approach adopted in this thesis includes linear algebra and elementary probability.The thesis provides evidence that we can maximize expected utility function to achieve our goal(maximize expected return under certain risk tolerance). The main conclusions drawn from thisstudy are under certain conditions the security market is arbitrage-free, and we can always find anoptimal portfolio maximizing certain expected utility function.
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Date Issued
2013
Identifier
CFE0004696, ucf:49875
Format
Document (PDF)
PURL
http://purl.flvc.org/ucf/fd/CFE0004696