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

Quiñonez Carrillo, Alma Yadira and Maravall Gomez-Allende, Darío and Lope Asiaín, Javier de (2012). Application of self-organizing techniques for the distribution of heterogeneous multi-tasks in multi-robot systems. In: "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.

Description

Title: Application of self-organizing techniques for the distribution of heterogeneous multi-tasks in multi-robot systems
Author/s:
  • Quiñonez Carrillo, Alma Yadira
  • Maravall Gomez-Allende, Darío
  • Lope Asiaín, Javier de
Item Type: Presentation at Congress or Conference (Article)
Event Title: 2012 IEEE Ninth Electronics, Robotics and Automotive Mechanics Conference (CERMA)
Event Dates: 19/11/2012 - 23/11/2012
Event Location: Cuernavaca, Morelos, México
Title of Book: 2012 IEEE Ninth Electronics, Robotics and Automotive Mechanics Conference (CERMA)
Date: 2012
ISBN: 978-1-4673-5096-9
Subjects:
Faculty: Facultad de Informática (UPM)
Department: Inteligencia Artificial
Creative Commons Licenses: Recognition - No derivative works - Non commercial

Full text

[img]
Preview
PDF - Requires a PDF viewer, such as GSview, Xpdf or Adobe Acrobat Reader
Download (139kB) | Preview

Abstract

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.

More information

Item ID: 21093
DC Identifier: http://oa.upm.es/21093/
OAI Identifier: oai:oa.upm.es:21093
Official URL: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6524557
Deposited by: Memoria Investigacion
Deposited on: 12 Nov 2013 17:34
Last Modified: 21 Apr 2016 11:12
  • Logo InvestigaM (UPM)
  • Logo GEOUP4
  • Logo Open Access
  • Open Access
  • Logo Sherpa/Romeo
    Check whether the anglo-saxon journal in which you have published an article allows you to also publish it under open access.
  • Logo Dulcinea
    Check whether the spanish journal in which you have published an article allows you to also publish it under open access.
  • Logo de Recolecta
  • Logo del Observatorio I+D+i UPM
  • Logo de OpenCourseWare UPM