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Flexible Dynamic Task Allocation in Cooperative Mission-Based Robotic Systems

[+] Author Affiliations
Stephen S. Nestinger, Harry H. Cheng

University of California, Davis, Davis, CA

Bo Chen

Michigan Technological University, Houghton, MI

Paper No. DETC2009-87627, pp. 127-134; 8 pages
  • ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 3: ASME/IEEE 2009 International Conference on Mechatronic and Embedded Systems and Applications; 20th Reliability, Stress Analysis, and Failure Prevention Conference
  • San Diego, California, USA, August 30–September 2, 2009
  • Conference Sponsors: Design Engineering Division and Computers in Engineering Division
  • ISBN: 978-0-7918-4900-2 | eISBN: 978-0-7918-3856-3
  • Copyright © 2009 by ASME


Mission-based multi-robot systems (MRS) require the ability to quickly adapt to different missions while maintaining the innate advantages of cooperation and fault tolerance. This requires a flexible architecture capable of adapting to real-time changes in the system while dynamically assigning tasks to available drones. The provided mobile agent-based dynamic task allocation architecture enables non-centralized methods for allocating tasks to a heterogeneous system of mobile robots. The architecture utilizes three types of intelligent software agents including a mobile task agent, stationary control agent, and a mobile behavior agent. A mobile task agent is used to automatically collect the next available task and communicates with the on-board stationary control agent in order to complete the desired task. A mobile behavior agent is used to automatically gather the robot specific behaviors necessary to execute the low-level reactive control system required for the task. A case study involving border patrolling demonstrates the feasibility of the dynamic task allocation architecture. A simple yet effective wall-following behavior algorithm is given.

Copyright © 2009 by ASME



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