Open Access. Powered by Scholars. Published by Universities.®
Articles 1 - 1 of 1
Full-Text Articles in Engineering
Coalition Formation And Execution In Multi-Robot Tasks, Yu Zhang
Coalition Formation And Execution In Multi-Robot Tasks, Yu Zhang
Doctoral Dissertations
In this research, I explore several related problems in distributed robot systems that must be addressed in order to achieve multi-robot tasks, in which individual robots may not possess all the required capabilities. While most previous research work on multi-robot cooperation mainly concentrates on loosely-coupled multi-robot tasks, a more challenging problem is to also address tightly-coupled multi- robot tasks involving close robot interactions, which often require capability sharing. Three related topics towards addressing these tasks are discussed, as follows:
Forming coalitions, which determines how robots should form into subgroups (i.e., coalitions) to address individual tasks. To achieve system autonomy, the …