A constrained guess-check approach for resource allocation in the robot control system design

Xingyun He, Cezary Zielinski, Steven Davy, Lei Shi

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

Nowadays robots are applied in many diversified industry fields, and even in our daily life. The structure of robots becomes more and more sophisticated, so designing and building such robots is not easy due to the growing complexity of the control systems structure. Therefore, many researchers focus on robot programming frameworks in order to simplify the process of designing and building robots. However, how to assemble agents, tasks and resources when building a robot is an important problem demanding efficient solution in the robot programming frameworks. In this paper, we present an approach, which can allocate the tasks of a robot to each agent according to the computational ability of agents, the execution time of tasks, and certain constraints, and can help manage all the resources (i.e., effectors and receptors) in the way which gives the structure with the least number of connections between agents. The allocation is proved to be Pareto Optimal.

Original languageEnglish
Title of host publicationMechanisms and Machine Science
EditorsXilun Ding, Xianwen Kong, Jian S. Dai, Jian S. Dai
PublisherKluwer Academic Publishers
Pages913-925
Number of pages13
ISBN (Print)9783319233260
DOIs
Publication statusPublished - 2016

Publication series

NameMechanisms and Machine Science
Volume36
ISSN (Print)2211-0984
ISSN (Electronic)2211-0992

Keywords

  • Agents
  • Effectors
  • Incidence matrix
  • Multi-agent systems
  • Multi-robot
  • Pareto optimal
  • Receptors
  • Tasks

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