The work presented here investigates the impact of certain environmental parameters on the performance of a multi-robot team conducting exploration tasks. Experiments were conducted with physical robots and simulated robots, and a diverse set of metrics was computed. The experiments were structured to highlight several factors: (a) single-robot versus multi-robot tasks; (b) independent versus dependent (or “constrained”) tasks; and (c) static versus dynamic task allocation modes. Four different task allocation mechanisms were compared, in two different exploration scenarios, with two different starting configurations for the robot team. The results highlight the distinctions between parameterised environments (characterised by the factors above, the robots’ starting positions and the exploration scenario) and the effectiveness of each task allocation mechanism, illustrating that some mechanisms perform statistically better in particular environment parameterisations.
Evaluating Multi-Robot Teamwork in Parameterised Environments
2016-06-21
Schneider , E , Sklar , E & Parsons , S 2016 , Evaluating Multi-Robot Teamwork in Parameterised Environments . in Towards Autonomous Robotic Systems : Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) . vol. 9716 , Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) , vol. 9716 , pp. 301-313 , 17th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2016 , Sheffield , United Kingdom , 26/06/2016 . https://doi.org/10.1007/978-3-319-40379-3_32
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
DDC: | 629 |
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