ADAPTIVE DISTRIBUTION OF A SWARM OF HETEROGENEOUS ROBOTS
-
Published:2016-02-29
Issue:1
Volume:56
Page:67
-
ISSN:1805-2363
-
Container-title:Acta Polytechnica
-
language:
-
Short-container-title:Acta Polytech
Author:
Prorok Amanda,Ani Hsieh M.,Kumar Vijay
Abstract
We present a method that distributes a swarm of heterogeneous robots among a set of tasks that require specialized capabilities in order to be completed. We model the system of heterogeneous robots as a community of species, where each species (robot type) is defined by the traits (capabilities) that it owns. Our method is based on a continuous abstraction of the swarm at a macroscopic level as we model robots switching between tasks. We formulate an optimization problem that produces an optimal set of transition rates for each species, so that the desired trait distribution is reached as quickly as possible. Since our method is based on the derivation of an analytical gradient, it is very efficient with respect to state-of-the-art methods. Building on this result, we propose a real-time optimization method that enables an online adaptation of transition rates. Our approach is well-suited for real-time applications that rely on online redistribution of large-scale robotic systems.
Publisher
Czech Technical University in Prague - Central Library
Subject
General Engineering
Cited by
1 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献