The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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A Decentralized Task Structure for Cooperative Transportation Missions

협업 수송 임무을 위한 분산 임무 구조

  • Received : 2014.12.12
  • Accepted : 2015.04.17
  • Published : 2015.08.31
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Abstract

This paper presents a modified task structure of coupled-constraints consensus based bundle algorithm especially to resolve the cooperative transportation problem. The cooperative transportation mission has various types of constraints. A modified framework to generate activities and subtasks to solve time and task constraints of the transportation mission by using coupled-constraints consensus based bundle algorithm is suggested. In this paper modifications on task structure, reward function and arrival time calculation are suggested to handle the constraints of cooperative transportation mission.

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References

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