Browse > Article
http://dx.doi.org/10.7746/jkros.2015.10.3.133

A Decentralized Task Structure for Cooperative Transportation Missions  

Kim, Keum-Seong (Department of Aerospace engineering, KAIST)
Choi, Han-Lim (Aerospace engineering, KAIST)
Publication Information
The Journal of Korea Robotics Society / v.10, no.3, 2015 , pp. 133-138 More about this Journal
Abstract
This paper presents a modified task structure of coupled-constraints consensus based bundle algorithm especially to resolve the cooperative transportation problem. The cooperative transportation mission has various types of constraints. A modified framework to generate activities and subtasks to solve time and task constraints of the transportation mission by using coupled-constraints consensus based bundle algorithm is suggested. In this paper modifications on task structure, reward function and arrival time calculation are suggested to handle the constraints of cooperative transportation mission.
Keywords
Task structure; cooperative transportation; coupled-constraints cbba;
Citations & Related Records
연도 인용수 순위
  • Reference
1 Ponda, S., Redding, J., Choi, H. L., How, J. P., Vavrina, M, & Vian, J. (2010, June). Decentralized planning for complex missions with dynamic communication constraints. In American Control Conference (ACC), 2010 (pp. 3998-4003). IEEE.
2 Whitten, A. K., Choi, H. L., Johnson, L. B., & How, J. P. (2011, June). Decentralized task allocation with coupled constraints in complex missions. In American Control Conference (ACC), 2011 (pp. 1642-1649). IEEE.
3 Choi, H. L., Brunet, L., & How, J. P. (2009). Consensus-based decentralized auctions for robust task allocation. Robotics, IEEE Transactions on, 25(4), 912-926.   DOI
4 Choi, H. L., Whitten, A. K., & How, J. P. (2010, June). Decentralized task allocation for heterogeneous teams with cooperation constraints. In American Control Conference (ACC), 2010 (pp. 3057-3062). IEEE.
5 Johnson, L., Choi, H. L., Ponda, S., & How, J. P. (2012, December). Allowing non-submodular score functions in distributed task allocation. In Decision and Control (CDC), 2012 IEEE 51st Annual Conference on (pp. 4702-4708). IEEE.
6 Ponda, S. S., Johnson, L. B., Kopeikin, A. N., Choi, H. L., & How, J. P. (2012). Distributed planning strategies to ensure network connectivity for dynamic heterogeneous teams. Selected Areas in Communications, IEEE Journal on, 30(5), 861-869.   DOI