title: Modeling of task planning for multirobot system using reputation mechanism.
abstract: MOdeling of task planning for multirobot system is developed from two parts: task decomposition and task allocation. In the part of task decomposition, the conditions and processes of decomposition are elaborated. In the part of task allocation, the collaboration strategy, the framework of reputation mechanism, and three types of reputations are defined in detail, which include robot individual reputation, robot group reputation, and robot direct reputation. A time calibration function and a group calibration function are designed to improve the effectiveness of the proposed method and proved that they have the characteristics of time attenuation, historical experience related, and newly joined robot reward. Tasks attempt to be assigned to the robot with higher overall reputation, which can help to increase the success rate of the mandate implementation, thereby reducing the time of task recovery and redistribution. Player/Stage is used as the simulation platform, and three biped-robots are established as the experimental apparatus. The experimental results of task planning are compared with the other allocation methods. Simulation and experiment results illustrate the effectiveness of the proposed method for multi-robot collaboration system.
authors.affiliation: School of Computer and Communication Engineering, University of Science and Technology, Beijing 100083, China ; Department of Aerospace Engineering, Ryerson University, 350 Victoria Street, Toronto, ON, Canada M5B 2K3.
authors.forename: Zhiguo
authors.initials: Z
authors.lastname: Shi
authors.affiliation: School of Computer and Communication Engineering, University of Science and Technology, Beijing 100083, China.
authors.forename: Jun
authors.initials: J
authors.lastname: Tu
authors.affiliation: Department of Aerospace Engineering, Ryerson University, 350 Victoria Street, Toronto, ON, Canada M5B 2K3 ; School of Aeronautics and Astronautics, University of Electronic Science and Technology of China, Chengdu 611731, China.
authors.forename: Yuankai
authors.initials: Y
authors.lastname: Li
authors.affiliation: ANU College of Engineering and Computer Science, Australian National University, Canberra, ACT 2601, Australia.
authors.forename: Junming
authors.initials: J
authors.lastname: Wei
mesh_terms: D008962:Models, Theoretical; D012371:Robotics