多模式机器人团队的节能任务分配新方法
Energy-Aware Task Allocation for Teams of Multi-mode Robots
- 将机器人模式建模为图结构，实现动态任务与模式匹配
- 在保证任务完成的前提下，降低整体能耗，提升执行效率
- 适用于飞行/行走/驾驶等多种机器人的实际部署场景
本文提出一种针对可切换多种工作模式（如飞行、行驶、步行）的多机器人系统的新任务分配框架。首先将机器人多模式特性编码为图结构，每个节点代表一种模式。随后构建带约束的优化问题，同时决定每台机器人应承担的任务及其执行模式。模式选择基于机器人状态、环境条件及任务能耗需求进行优化。该框架兼容机器人的运动学与动力学模型，并给出了两类模型下任务分配与执行收敛的充分条件。
原文摘要 · Abstract (English)
This work proposes a novel multi-robot task allocation framework for robots that can switch between multiple modes, e.g., flying, driving, or walking. We first provide a method to encode the multi-mode property of robots as a graph, where the mode of each robot is represented by a node. Next, we formulate a constrained optimization problem to decide both the task to be allocated to each robot as well as the mode in which the latter should execute the task. The robot modes are optimized based on the state of the robot and the environment, as well as the energy required to execute the allocated task. Moreover, the proposed framework is able to encompass kinematic and dynamic models of robots alike. Furthermore, we provide sufficient conditions for the convergence of task execution and allocation for both robot models.
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