论文标题
消息基于消息到期的分布式多机器人任务管理
Message Expiration-Based Distributed Multi-Robot Task Management
论文作者
论文摘要
多个代理的分布式任务分配提出了基本和新颖的控制理论和机器人问题。一个新的挑战是开发分布式算法，这些算法将任务动态分配给多个代理，而不是依靠先前的分配信息。这项工作基于基于消息到期的验证方法提供了一种用于多机器人任务管理的分布式方法。我们的方法通过使用基于距离和基于时间戳的测量来验证每个机器人的任务分配，处理分布式多机器人系统中的断开连接引起的冲突。机器人模拟器平台中的模拟实验已验证了所提出的方法的有效性。
Distributed task assignment for multiple agents raises fundamental and novel control theory and robotics problems. A new challenge is the development of distributed algorithms that dynamically assign tasks to multiple agents, not relying on prior assignment information. This work presents a distributed method for multi-robot task management based on a message expiration-based validation approach. Our approach handles the conflicts caused by a disconnection in the distributed multi-robot system by using distance-based and timestamp-based measurements to validate the task allocation for each robot. Simulation experiments in the Robotarium simulator platform have verified the validity of the proposed approach.
