Application of self-organizing techniques for the distribution of heterogeneous multi-tasks in multi-robot systems

Quiñonez Carrillo, Alma Yadira; Maravall Gomez-Allende, Darío y Lope Asiaín, Javier de (2012). Application of self-organizing techniques for the distribution of heterogeneous multi-tasks in multi-robot systems. En: "2012 IEEE Ninth Electronics, Robotics and Automotive Mechanics Conference (CERMA)", 19/11/2012 - 23/11/2012, Cuernavaca, Morelos, México. ISBN 978-1-4673-5096-9. pp. 66-71.

Descripción

Título: Application of self-organizing techniques for the distribution of heterogeneous multi-tasks in multi-robot systems
Autor/es:
  • Quiñonez Carrillo, Alma Yadira
  • Maravall Gomez-Allende, Darío
  • Lope Asiaín, Javier de
Tipo de Documento: Ponencia en Congreso o Jornada (Artículo)
Título del Evento: 2012 IEEE Ninth Electronics, Robotics and Automotive Mechanics Conference (CERMA)
Fechas del Evento: 19/11/2012 - 23/11/2012
Lugar del Evento: Cuernavaca, Morelos, México
Título del Libro: 2012 IEEE Ninth Electronics, Robotics and Automotive Mechanics Conference (CERMA)
Fecha: 2012
ISBN: 978-1-4673-5096-9
Materias:
Escuela: Facultad de Informática (UPM) [antigua denominación]
Departamento: Inteligencia Artificial
Licencias Creative Commons: Reconocimiento - Sin obra derivada - No comercial

Texto completo

[img]
Vista Previa
PDF (Document Portable Format) - Se necesita un visor de ficheros PDF, como GSview, Xpdf o Adobe Acrobat Reader
Descargar (139kB) | Vista Previa

Resumen

This paper focuses on the general problem of coordinating of multi-robot systems, more specifically, it addresses the self-election of heterogeneous and specialized tasks by autonomous robots. In this regard, it has proposed experimenting with two different techniques based chiefly on selforganization and emergence biologically inspired, by applying response threshold models as well as ant colony optimization. Under this approach it can speak of multi-tasks selection instead of multi-tasks allocation, that means, as the agents or robots select the tasks instead of being assigned a task by a central controller. The key element in these algorithms is the estimation of the stimuli and the adaptive update of the thresholds. This means that each robot performs this estimate locally depending on the load or the number of pending tasks to be performed. It has evaluated the robustness of the algorithms, perturbing the number of pending loads to simulate the robot’s error in estimating the real number of pending tasks and also the dynamic generation of loads through time. The paper ends with a critical discussion of experimental results.

Más información

ID de Registro: 21093
Identificador DC: http://oa.upm.es/21093/
Identificador OAI: oai:oa.upm.es:21093
URL Oficial: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6524557
Depositado por: Memoria Investigacion
Depositado el: 12 Nov 2013 17:34
Ultima Modificación: 21 Abr 2016 11:12
  • GEO_UP4
  • Open Access
  • Open Access
  • Sherpa-Romeo
    Compruebe si la revista anglosajona en la que ha publicado un artículo permite también su publicación en abierto.
  • Dulcinea
    Compruebe si la revista española en la que ha publicado un artículo permite también su publicación en abierto.
  • Recolecta
  • InvestigaM
  • Observatorio I+D+i UPM
  • OpenCourseWare UPM