有限通信距离约束下的机器人目标分配
Target assignment for robots constrained by limited communication range
摘要：
研究了受限通信范围的多个分散机器人的任务分配问题。机器人最初是随机分布的，需要访问几个目标位置，同时最大限度地减少总行程时间。提出了一种集中式的基于交会的算法，所有机器人首先向交会位置移动，直到每对机器人之间直接或通过中间节点建立通信路径，然后选择一个机器人作为领导者，为其他机器人进行集中式的任务分配。此外，我们提出了一个分散的算法的基础上，一个单一的旅行推销员之旅，它不需要所有的机器人通过通信连接。我们调查的分配解决方案的质量的变化，作为信息共享的水平的增加和通信范围的增长，分别。将所提算法分别与具有全局信息共享的集中式算法和分散式贪婪算法进行了比较。Monte Carlo仿真结果表明了所提算法的良好性能。
英文摘要：
This paper investigates the task assignment problem for multiple dispersed robots constrained by limited communication range. The robots are initially randomly distributed and need to visit several target locations while minimizing the total travel time. A centralized rendezvous-based algorithm is proposed, under which all the robots first move towards a rendezvous position until communication paths are established between every pair of robots either directly or through intermediate peers, and then one robot is chosen as the leader to make a centralized task assignment for the other robots. Furthermore, we propose a decentralized algorithm based on a single-traveling-salesman tour, which does not require all the robots to be connected through communication. We investigate the variation of the quality of the assignment solutions as the level of information sharing increases and as the communication range grows, respectively. The proposed algorithms are compared with a centralized algorithm with shared global information and a decentralized greedy algorithm respectively. Monte Carlo simulation results show the satisfying performance of the proposed algorithms.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
