A sizing method for a multi-robot system

Author

Rongier, Philippe ; Lucidarme, Philippe

Author_Institution

LIRMM, Montpellier, France

Volume

1

fYear

2001

fDate

2001

Firstpage

387

Abstract

Addresses a fast method for optimizing and sizing a multi-robot system. To demonstrate the performance of such an approach, a complex heterogeneous system is considered. It is composed of two populations of robots having different but complementary abilities. It is shown that it is possible to find the optimum criteria to execute the mission and obtain the best probable solution It is based on the stochastic model of the Markov chains. The method is applied to a generic mission of multi-robot cooperation. The mission has also been simulated several thousand hundred times on a computer to compare the results and validate the model. It is also possible, with this model, to quickly predict the system evolution from different initial states and study the impact of the variation of some parameters on the global result. Some ongoing experimentations are also introduced

Keywords

Markov processes; mobile robots; multi-robot systems; probability; Markov chains; autonomous mobile robots; complex heterogeneous system; multi-robot cooperation; multi-robot system; reactive agents; sizing method; stochastic model; Agriculture; Computational modeling; Computer simulation; Mobile robots; Multirobot systems; Optimization methods; Plants (biology); Predictive models; Robot vision systems; Stochastic processes;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on

Conference_Location

Maui, HI

Print_ISBN

0-7803-6612-3

Type

conf

DOI

10.1109/IROS.2001.973388

Filename

973388