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Semi-Autonomous Control of a Multi-Agent Robotic System for Multi-Target Operations
Yushing Cheung, Jae H. Chung
Pages - 107 - 127     |    Revised - 01-05-2011     |    Published - 31-05-2011
Volume - 2   Issue - 2    |    Publication Date - May / June 2011  Table of Contents
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KEYWORDS
Teleoperation, Multi-Target Operations, Multi-Agent Systems
ABSTRACT
Since multi-targets often occur in most applications, it is required that multi-robots are grouped to work on multi-targets simultaneously. Therefore, this paper proposes a control method for a single-master multi-slave (SMMS) teleoperator to control cooperative mobile multi-robots for a multi-target mission. The major components of the proposed control method are the robot-target pairing method and modified potential field based leader-follower formation The robot-target paring method is derived from the proven auction algorithm for a single target and is extended for multi-robot multi-target cases, which optimizes effect-based robot-target pairing based on heuristic and sensory data. The multi-robot multi-target pairing method can produce a weighted attack guidance table (WAGT), which contains benefits of different robot-target pairs. The robot-target pairing converges rapidly - as is the case for auction algorithms with integer benefits. Besides, as long as optimal robot-target pairs are obtained, a team is split into subteams formed by paired robots regarding types and numbers of the robot-target pairs with the robot-target pairing method. The subteams approach and then capture their own paired targets in the modified potential field based leader-follower formation while avoiding sensed obstacles. Simulation studies illustrate system efficacy with the proposed control method for multi-target operations. Moreover, the paper is concluded with observations of enhanced system performance.
CITED BY (1)  
1 Hernansanz, A., Casals, A., & Amat, J. (2015). A multi-robot cooperation strategy for dexterous task oriented teleoperation. Robotics and Autonomous Systems, 68, 156-172.
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Dr. Yushing Cheung
Telemax - Hong Kong
ycheung@stevens.edu
Dr. Jae H. Chung
- United States of America