By Topic

Target topology based task assignment for multiple mobile robots in adversarial environments

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

2 Author(s)
Zhang, D. ; Peking Univ., Beijing ; Long Wang

This paper is concerned with the task assignment problem for a team of mobile robots in adversarial environments. Based on the geometric topology of the targets, two key factors are defined: the impact factor and the suffering factor, and a stochastic assignment model based on these factors is built, through which the robots can exhibit temporal cooperation. To reduce the computational complexity, genetic algorithm is employed to optimize the relative weights of the impact factor and the suffering factor, and after that, the Improved Hungarian algorithm is used to solve the assignment problem. Simulation results demonstrate the effectiveness of the proposed method.

Published in:

Decision and Control, 2007 46th IEEE Conference on

Date of Conference:

12-14 Dec. 2007