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基于组合拍卖的多机器人任务死锁解决方法 被引量：1

Multi-robot systems task deadlock resolution based on combinatorial auction
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摘要 针对多机器人搜集任务中可能出现的任务死锁现象,采用基于组合拍卖的方法来解决这一问题。提出了一种拍卖树方法,用来解决组合拍卖计算量过大的问题。仿真实验结果表明该方法不仅能够消除多机器人的任务死锁,而且能够在解决死锁问题的同时优化多机器人任务分配结果。 A method based on combinatorial auction is presented to solve the deadlock phenomenon in multi-robot foraging.A method named auction tree is presented to solve the problem of excessive combination strategy computation of combinatorial auction.The simulation results show that the method presented in the paper not only can solve the deadlock of multi-robot task but also can make the multi-robot task allocation optimized.
作者 姜健 闫继宏 臧希喆 赵杰
机构地区 哈尔滨工业大学机器人研究所
出处 《计算机工程与应用》 CSCD 北大核心 2008年第4期1-3,共3页 Computer Engineering and Applications
基金 国家高技术研究发展计划(863)(the National High- Tech Research and Development Plan of China under Grant No.2006AA04Z245) 教育部长江学者和创新团队发展计划(No.IRT0423)
关键词 多机器人系统 协作 死锁 组合拍卖 multi-robot systems cooperation deadlock combinatorial auction
分类号 TP24 [自动化与计算机技术—检测技术与自动化装置]
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参考文献7

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共引文献3

同被引文献10

  • 1Chen J,Sun D.Resource constrained multi-robot task allocation based on leader-follow coalition methodology[J].The Internationa Journal of Robotics Research,2011,30(10):1423-1434.
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  • 9裘杭萍,覃垚,胡汭,管留.多Agent系统中基于改进合同网模型的任务分配研究[J].计算机科学,2012,39(B06):279-282. 被引量：13
  • 10邸斌,周锐,丁全心.多无人机分布式协同异构任务分配[J].控制与决策,2013,28(2):274-278. 被引量：40

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计算机工程与应用
2008年 第4期

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