ADAPTIVE DISTRIBUTION OF A SWARM OF HETEROGENEOUS ROBOTS
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) tha...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
CTU Central Library
2016-02-01
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| Series: | Acta Polytechnica |
| Subjects: | |
| Online Access: | https://ojs.cvut.cz/ojs/index.php/ap/article/view/3438 |
| _version_ | 1828357432469880832 |
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| author | Amanda Prorok M. Ani Hsieh Vijay Kumar |
| author_facet | Amanda Prorok M. Ani Hsieh Vijay Kumar |
| author_sort | Amanda Prorok |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-04-14T03:15:33Z |
| format | Article |
| id | doaj.art-1f42e942256a4ee09337632b4ca2d51f |
| institution | Directory Open Access Journal |
| issn | 1210-2709 1805-2363 |
| language | English |
| last_indexed | 2024-04-14T03:15:33Z |
| publishDate | 2016-02-01 |
| publisher | CTU Central Library |
| record_format | Article |
| series | Acta Polytechnica |
| spelling | doaj.art-1f42e942256a4ee09337632b4ca2d51f2022-12-22T02:15:29ZengCTU Central LibraryActa Polytechnica1210-27091805-23632016-02-01561677510.14311/APP.2016.56.00673100ADAPTIVE DISTRIBUTION OF A SWARM OF HETEROGENEOUS ROBOTSAmanda Prorok0M. Ani Hsieh1Vijay Kumar2General Robotics, Automation, Sensing & Perception (GRASP) Laboratory, University of Pennsylvania, Philadelphia, USAGeneral Robotics, Automation, Sensing & Perception (GRASP) Laboratory, University of Pennsylvania, Philadelphia, USAGeneral Robotics, Automation, Sensing & Perception (GRASP) Laboratory, University of Pennsylvania, Philadelphia, USAWe 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.https://ojs.cvut.cz/ojs/index.php/ap/article/view/3438heterogeneous multi-robot systemsswarm roboticsstochastic systemstask allocation |
| spellingShingle | Amanda Prorok M. Ani Hsieh Vijay Kumar ADAPTIVE DISTRIBUTION OF A SWARM OF HETEROGENEOUS ROBOTS Acta Polytechnica heterogeneous multi-robot systems swarm robotics stochastic systems task allocation |
| title | ADAPTIVE DISTRIBUTION OF A SWARM OF HETEROGENEOUS ROBOTS |
| title_full | ADAPTIVE DISTRIBUTION OF A SWARM OF HETEROGENEOUS ROBOTS |
| title_fullStr | ADAPTIVE DISTRIBUTION OF A SWARM OF HETEROGENEOUS ROBOTS |
| title_full_unstemmed | ADAPTIVE DISTRIBUTION OF A SWARM OF HETEROGENEOUS ROBOTS |
| title_short | ADAPTIVE DISTRIBUTION OF A SWARM OF HETEROGENEOUS ROBOTS |
| title_sort | adaptive distribution of a swarm of heterogeneous robots |
| topic | heterogeneous multi-robot systems swarm robotics stochastic systems task allocation |
| url | https://ojs.cvut.cz/ojs/index.php/ap/article/view/3438 |
| work_keys_str_mv | AT amandaprorok adaptivedistributionofaswarmofheterogeneousrobots AT manihsieh adaptivedistributionofaswarmofheterogeneousrobots AT vijaykumar adaptivedistributionofaswarmofheterogeneousrobots |