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Harnessing coherence of area decomposition and semantic shared spaces for task allocation in a robotic fleet

查看全文 作　　者：Domagoj [1]Drenjanac;Slobodanka Dana Kathrin [1]Tomic;Lukas [2]Klausner;Eva [2]Kühn 高影响力作者 机构地区：[1]The Telecommunications Research Center Vienna(FTW),Donau-City-Strasse 1,1220 Vienna,Austria;[2]Institute of Computer Languages,Vienna University of Technology,Argentinierstrasse 8,1040 Vienna,Austria高影响力机构 出　　处：《Information Processing in Agriculture》索引2014年第1卷第1期,共11页高影响力期刊 基　　金：This paper is partially supported within the European Research Project RHEA;The Telecommunications Research Center Vienna(FTW)is supported by the Austrian government and the City of Vienna within the competence center program COMET. 摘　　要：Task allocation is a fundamental problem in multi-robot systems where heterogeneous robots cooperate to perform a complex mission.A general requirement in a task allocation algorithm is to find an optimal set of robots to execute a certain task.This paper presents the work that harnesses an area decomposition algorithm,and a space-based middleware to facilitate task allocation process in unstructured and dynamic environments.To reduce spatial interference between robots,area decomposition algorithm divides a working area into cells which are then dynamically assigned to robots.In addition,coordination and collaboration among distributed robots are realized through a space-based middleware.For this purpose,the space-based middleware is extended with a semantic model of robot capabilities to improve task selection in terms of flexibility,scalability,and reduced communication overhead during task allocation.In this way a framework which exploits the synergy of area decomposition and semantically enriched space-based approach is created.We conducted performance tests in a specific precision agriculture use case focusing on the utilization of a robotic fleet for weed control introduced in the European Project RHEA–Robot Fleets for Highly Effective Agriculture and Forestry Management. 关 键 词：Task allocation Area decomposition Space-based computing SEMANTICS Robotic fleet
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