By Topic

Multirobot task allocation in lunar mission construction scenarios

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Thomas, G. ; Dept. of Comput. Sci., Iowa Univ., IA, USA ; Howard, A.M. ; Williams, A.B. ; Moore-Alston, A.

In this paper, we propose a method for multi-robot task allocation based on the concept of task decomposition for a lunar mission scenario. This methodology focuses on segmenting a task scenario into a sequence of operations called functional primitives that are defined a priori by a set of performance metrics and resource requirements. In real-time, multiple robotic agents determine their capabilities and skill sets associated with the defined functional primitives in order to determine a suitable allocation scheme. We discuss the methodology in detail and provide results for a simulated lunar mission construction scenario using the Multi-Agent Robot Simulator for Lunar Construction (MARS-LC) system.

Published in:

Systems, Man and Cybernetics, 2005 IEEE International Conference on  (Volume:1 )

Date of Conference:

10-12 Oct. 2005