利用资源管理保证自主机器人任务的性能：PANORAMA 方法

IF 3.1 4区计算机科学 Q2 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE Journal of Intelligent & Robotic Systems Pub Date : 2024-03-22 DOI:10.1007/s10846-024-02058-7

Philippe Lambert, Karen Godary-Dejean, Lionel Lapierre, Lotfi Jaiem, Didier Crestani

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引用次数: 0

摘要

本文提出了 PANORAMA 方法，该方法设计用于在全自主任务期间动态、自主地管理机器人硬件和软件资源的分配。这种行为自主方法保证了任务性能约束的满足。本文阐明了自主机器人任务的性能概念，并详细介绍了 PANORAMA 方法的不同阶段。最后，文章重点介绍了一个巡逻任务实例的实验实施情况。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Performance Guarantee for Autonomous Robotic Missions using Resource Management: The PANORAMA Approach

This paper proposes the PANORAMA approach, which is designed to dynamically and autonomously manage the allocation of a robot’s hardware and software resources during fully autonomous mission. This behavioral autonomy approach guarantees the satisfaction of the mission performance constraints. This article clarifies the concept of performance for autonomous robotic missions and details the different phases of the PANORAMA approach. Finally, it focuses on an experimental implementation on a patrolling mission example.

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来源期刊

Journal of Intelligent & Robotic Systems 工程技术-机器人学

CiteScore

7.00

自引率

9.10%

发文量

219

审稿时长

6 months

期刊介绍： The Journal of Intelligent and Robotic Systems bridges the gap between theory and practice in all areas of intelligent systems and robotics. It publishes original, peer reviewed contributions from initial concept and theory to prototyping to final product development and commercialization. On the theoretical side, the journal features papers focusing on intelligent systems engineering, distributed intelligence systems, multi-level systems, intelligent control, multi-robot systems, cooperation and coordination of unmanned vehicle systems, etc. On the application side, the journal emphasizes autonomous systems, industrial robotic systems, multi-robot systems, aerial vehicles, mobile robot platforms, underwater robots, sensors, sensor-fusion, and sensor-based control. Readers will also find papers on real applications of intelligent and robotic systems (e.g., mechatronics, manufacturing, biomedical, underwater, humanoid, mobile/legged robot and space applications, etc.).