{"title":"基于机器人效用任务分配(RUTA)的异构机器人群协调","authors":"Tamer Abukhalil, Madhav Patil, S. Patel, T. Sobh","doi":"10.1109/AMC.2016.7496328","DOIUrl":null,"url":null,"abstract":"The goal of this work is the development of a task-oriented software application that facilitates the rapid deployment of multiple robotic agents. The task solutions are created at run-time and executed by the agents in a centralized or decentralized fashion. Tasks are divided into smaller sub-tasks which are then assigned to the optimal number of robots using Robot Utility Based Task Assignment (RUTA) algorithm. The system deploys these robots using its application program interfaces (API's) and uploads programs that are integrated with a small routine code. The embedded routine allows robots to configure solutions when decentralized approach is adopted.","PeriodicalId":273847,"journal":{"name":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","volume":"54 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2016-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"19","resultStr":"{\"title\":\"Coordinating a heterogeneous robot swarm using Robot Utility-based Task Assignment (RUTA)\",\"authors\":\"Tamer Abukhalil, Madhav Patil, S. Patel, T. Sobh\",\"doi\":\"10.1109/AMC.2016.7496328\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The goal of this work is the development of a task-oriented software application that facilitates the rapid deployment of multiple robotic agents. The task solutions are created at run-time and executed by the agents in a centralized or decentralized fashion. Tasks are divided into smaller sub-tasks which are then assigned to the optimal number of robots using Robot Utility Based Task Assignment (RUTA) algorithm. The system deploys these robots using its application program interfaces (API's) and uploads programs that are integrated with a small routine code. The embedded routine allows robots to configure solutions when decentralized approach is adopted.\",\"PeriodicalId\":273847,\"journal\":{\"name\":\"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)\",\"volume\":\"54 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2016-04-22\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"19\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/AMC.2016.7496328\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2016 IEEE 14th International Workshop on Advanced Motion Control (AMC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/AMC.2016.7496328","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Coordinating a heterogeneous robot swarm using Robot Utility-based Task Assignment (RUTA)
The goal of this work is the development of a task-oriented software application that facilitates the rapid deployment of multiple robotic agents. The task solutions are created at run-time and executed by the agents in a centralized or decentralized fashion. Tasks are divided into smaller sub-tasks which are then assigned to the optimal number of robots using Robot Utility Based Task Assignment (RUTA) algorithm. The system deploys these robots using its application program interfaces (API's) and uploads programs that are integrated with a small routine code. The embedded routine allows robots to configure solutions when decentralized approach is adopted.
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