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Full-Text Articles in Computer Engineering
Dynamic Task Allocation In Mobile Robot Systems Using Utility Funtions, Scott Vander Weide
Dynamic Task Allocation In Mobile Robot Systems Using Utility Funtions, Scott Vander Weide
Electronic Theses and Dissertations
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 robots. We evaluate the proposed algorithm in a simulation study and compare it to alternative approaches, including the contract net protocol, an approach …
Coalition Formation And Teamwork In Embodied Agents, Majid Ali Khan
Coalition Formation And Teamwork In Embodied Agents, Majid Ali Khan
Electronic Theses and Dissertations
Embodied agents are agents acting in the physical world, such as persons, robots, unmanned air or ground vehicles and so on. These types of agents are subject to spatio-temporal constraints, which do not exist for agents acting in a virtual environment. The movement of embodied agents is limited by obstacles and maximum velocity, while their communication is limited by the transmission range of their wireless devices. This dissertation presents contributions to the techniques of coalition formation and teamwork coordination for embodied agents. We considered embodied agents in three different settings, each of them representative of a class of practical applications. …