Title :
A learning market based layered multi-robot architecture
Author :
Lin, Liu ; Lei, Wang ; Zheng, Zhiqiang ; Sun, Zengqi
Author_Institution :
Coll. of Mechatro-Electron. & Autom., Nat. Univ. of Defense Technol., Changsha, China
fDate :
April 26-May 1, 2004
Abstract :
This work presents a novel learning market based layered architecture for distributed multi-robot systems. For the market system, a reward function is defined and adapted by some kind of learning algorithm in the dynamical system. A layered architecture combining the market based system with the typical layered robot architecture is also proposed to make the robot team execute smoothly in the dynamic environment. Results illustrate the relationships between task time, task amount and robot amount. The task/robot rate is defined to deeply study their relationships.
Keywords :
distributed control; learning (artificial intelligence); multi-robot systems; task analysis; distributed multirobot systems; dynamic environment; dynamical system; layered multirobot architecture; learning market; market based system; robot team; task/robot rate; Automation; Computer architecture; Computer networks; Heuristic algorithms; Intelligent robots; Intelligent systems; Multirobot systems; Power generation economics; Resource management; Robot kinematics;
Conference_Titel :
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
Print_ISBN :
0-7803-8232-3
DOI :
10.1109/ROBOT.2004.1308782