Robust Task Allocation Algorithm for Multi-Vehicle Operation Considering Node Position Uncertainty 노드 위치의 불확실성을 고려한 다수 운동체의강인한 작업 할당 알고리즘

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Effective collaboration of multiple vehicles has received much research attention, as advances in the operation of single unmanned systems have gradually matured for practical applications. Typically, task allocation is performed to minimize (or maximize) the expected cost (or utility), assuming that the cost matrix is constant. However, the quality of task allocation in terms of optimality and reliability may vary significantly, depending on the disturbances generated by the uncertainties of the nodes (positions of vehicles and tasks). This paper addresses the problem of multi-vehicle task allocation with consideration of node uncertainties. To assess the robustness of the solution, a combination of the interval Hungarian algorithm and the Gaussian approximation is employed. The performance of the proposed algorithm is demonstrated through numerical simulations of multi-objective (distance and robustness) task allocation.
Publisher
Institute of Control, Robotics and Systems
Issue Date
2018-10
Language
English
Article Type
Article
Citation

Journal of Institute of Control, Robotics and Systems, v.24, no.10, pp.962 - 968

ISSN
1976-5622
DOI
10.5302/J.ICROS.2018.18.0124
URI
http://hdl.handle.net/10203/248298
Appears in Collection
ME-Journal Papers(저널논문)
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