A Probabilistic Technique for Allocation of Tasks With Priorities in a School of Autonomous Mobile Robots

2019 ◽  
Author(s):  
Soovadeep Bakshi ◽  
Tianheng Feng ◽  
Zeyu Yan ◽  
Dongmei Chen
Keyword(s):  
Mobile Robots ◽  
Real Time ◽  
Task Allocation ◽  
Autonomous Mobile Robots ◽  
Maximization Problem ◽  
Planning Problem ◽  
Optimization Scheme ◽  
Manufacturing Automation ◽  
Task List ◽  
Probabilistic Technique

Abstract Using Autonomous Mobile Robots (AMRs) to collaboratively complete tasks has received a lot of attention in recent years from both industry and acedemia, especially in applications related to manufacturing automation. However, in spite of the technological progress, there are many challenges yet to be addressed in prioritized task allocation and scheduling of a school of AMRs in real time. This paper focuses on the real-time task allocation problem for a school of AMRs, i.e., given a prioritized task list and multiple AMRs, determining the set of tasks to be completed by each AMR. This paper proposes a probabilistic task allocation method which formulates the problem as a log-likelihood maximization problem, and uses a cyclic optimization scheme. This algorithm is shown to perform better when compared to commonly-used algorithms for asymmetric clustering. This proposed algorithm can be combined with scheduling methods to generate a ‘cluster-first, order-second’ solution to the multi-AMR task planning problem.

A Real-time Algorithm for Obstacle Avoidance of Autonomous Mobile Robots

Robotica ◽  
1992 ◽  
Vol 10 (3) ◽  
pp. 217-227 ◽  
Author(s):  
Huang Han-Pang ◽  
Lee Pei-Chien
Keyword(s):  
Mobile Robots ◽  
Real Time ◽  
Obstacle Avoidance ◽  
Time Algorithm ◽  
Autonomous Mobile Robots ◽  
Computational Time ◽  
Avoidance Problem

SUMMARYA real-time obstacle avoidance algorithm is proposed for autonomous mobile robots. The algorithm is sensor-based and consists of a H-mode and T-mode. The algorithm can deal with a complicated obstacle environment, such as multiple concave and convex obstacles. It will be shown that the algorithm is more efficient and more robust than other sensor-based algorithms. In addition, the algorithm will guarantee a solution for the obstacle avoidance problem. Since the algorithm only takes up a small computational time, it can be implemented in real time.

Real-time Path Adaptation for Sweeping by Autonomous Mobile Robots

1998 ◽  
pp. 299-308
Author(s):  
Daisuke Kurabayashi ◽  
Tamio Arai ◽  
Kanji Iwase ◽  
Jun Ota ◽  
Hajime Asama ◽  
...  
Keyword(s):  
Mobile Robots ◽  
Real Time ◽  
Autonomous Mobile Robots ◽  
Time Path

scholarly journals UAV Swarm Mission Planning in Dynamic Environment Using Consensus-Based Bundle Algorithm

Sensors ◽  
2020 ◽  
Vol 20 (8) ◽  
pp. 2307 ◽  
Author(s):  
Yaozhong Zhang ◽  
Wencheng Feng ◽  
Guoqing Shi ◽  
Frank Jiang ◽  
Morshed Chowdhury ◽  
...  
Keyword(s):  
Real Time ◽  
Task Allocation ◽  
Dynamic Environment ◽  
Mission Planning ◽  
Planning Problem ◽  
Allocation Mechanism ◽  
The Real ◽  
Dynamic Task ◽  
Time Performance ◽  
Communication Time

To solve the real-time complex mission-planning problem for Multiple heterogeneous Unmanned Aerial Vehicles (UAVs) in the dynamic environments, this paper addresses a new approach by effectively adapting the Consensus-Based Bundle Algorithms (CBBA) under the constraints of task timing, limited UAV resources, diverse types of tasks, dynamic addition of tasks, and real-time requirements. We introduce the dynamic task generation mechanism, which satisfied the task timing constraints. The tasks that require the cooperation of multiple UAVs are simplified into multiple sub-tasks to perform by a single UAV independently. We also introduce the asynchronous task allocation mechanism. This mechanism reduces the computational complexity of the algorithm and the communication time between UAVs. The partial task redistribution mechanism has been adopted for achieving the dynamic task allocation. The real-time performance of the algorithm is assured on the premise of optimal results. The feasibility and real-time performance of the algorithm are validated by conducting dynamic simulation experiments.

scholarly journals A Real-Time Framework for the Vision Subsystem in Autonomous Mobile Robots

10.5772/4983 ◽  
2007 ◽  
Author(s):  
Paulo Pedreiras ◽  
Filipe Teixeira ◽  
Nelson Ferreira ◽  
Luis Almeida Armando Pinho ◽  
Frederico Santos
Keyword(s):  
Mobile Robots ◽  
Real Time ◽  
Autonomous Mobile Robots

scholarly journals Functionally Distributed Control Architecture for Autonomous Mobile Robots

2004 ◽  
Vol 16 (2) ◽  
pp. 217-224 ◽  
Author(s):  
Tetsuya Taira ◽  
◽  
Nobuyuki Yamasaki
Keyword(s):  
Mobile Robots ◽  
Real Time ◽  
Distributed Control ◽  
Auditory Processing ◽  
Autonomous Mobile Robots ◽  
Control Architecture ◽  
Human Society ◽  
Processing Unit ◽  
Real Time Control ◽  
Time Control

This paper explains the design and implementation of functionally distributed control architecture that realizes real-time control of autonomous mobile robots. To operate successfully in human society, autonomous mobile robots must achieve both local and global control in real-time. We focus on robots operating in parallel, such as moving while sensing, and propose a functionally distributed control architecture designed as a parallel/distributed computer consisting of many functionally distributed modules. Each module has an exclusive Processing Unit (PU) that processes one function of robot, such as image processing, auditory processing, and wheel control, independently in real-time. The robot can perform global action by cooperating with such modules. We then evaluate the efficiency of the proposed architecture by implementing prototype robots based on this architecture.

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