par O'Grady, Rehan 
;Pinciroli, Carlo ;Gross, Roderich ;Christensen, Anders Lyhne ;Mondada, Francesco;Bonani, Michaël ;Dorigo, Marco
Référence Lecture notes in computer science, 5777 LNAI, PART 1, page (165-172)
Publication Publié, 2011
;Pinciroli, Carlo ;Gross, Roderich ;Christensen, Anders Lyhne ;Mondada, Francesco;Bonani, Michaël ;Dorigo, Marco Référence Lecture notes in computer science, 5777 LNAI, PART 1, page (165-172)
Publication Publié, 2011
Article révisé par les pairs
| Résumé : | We explore the problem of resource allocation in a system made up of autonomous agents that can either carry out tasks individually or, when necessary, cooperate by forming physical connections with each other. We consider a group transport scenario that involves transporting broken robots to a repair zone. Some broken robots can be transported by an individual 'rescue' robot, whereas other broken robots are heavier and therefore require the rescue robots to self-assemble into a larger and stronger composite entity. We present a distributed controller that solves this task while efficiently allocating resources. We conduct a series of real-world experiments to show that our system can i) transport separate broken robots in parallel, ii) trigger self-assembly into composite entities when necessary to overcome the physical limitations of individual agents, iii) efficiently allocate resources and iv) resolve deadlock situations. © 2011 Springer-Verlag. |
