基于消息过期的分布式多机器人任务管理
Message Expiration-Based Distributed Multi-Robot Task Management
摘要：
多代理的分布式任务分配提出了基本的和新的控制理论和机器人问题。一个新的挑战是分布式算法的发展，动态分配任务到多个代理，不依赖于事先分配信息。提出了一种基于消息验证的分布式多机器人任务管理方法。我们的方法通过使用基于距离和基于时间戳的测量值来验证每个机器人的任务分配，从而处理分布式多机器人系统中断开连接所引起的冲突。在Robotarium仿真平台上的仿真实验验证了该方法的有效性。
英文摘要：
Distributed task assignment for multiple agents raises fundamental and novel control theory and robotics problems. A new challenge is the development of distributed algorithms that dynamically assign tasks to multiple agents, not relying on prior assignment information. This work presents a distributed method for multi-robot task management based on a message expiration-based validation approach. Our approach handles the conflicts caused by a disconnection in the distributed multi-robot system by using distance-based and timestamp-based measurements to validate the task allocation for each robot. Simulation experiments in the Robotarium simulator platform have verified the validity of the proposed approach.
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