4:30 PM - 4:50 PM
[3H4-J-7-03] A Fundamental Study of Region Allocation for Mobile Robots Based on Constraint Optimization and Decentralized Solution Method
Keywords:multiagent, distributed constraint optimization, mobile sensors
Observation systems based on autonomous multiple robots including wide area surveillance, emergency response, and temporary exploration in unsafe areas have been widely studied.
In general cases, there are various requirements for observation systems such as patrolling, exploration, tracking and cooperative sensing. These tasks also require the formation of robots and the allocation of observation areas.
To manage complex sub-tasks simultaneously, a general approach based on constraint optimization problems and decentralized solution methods in multiagent systems will be promising.
As a fundamental study, we address a simple model for patrolling problems with the allocation of observation areas to multiple robots based on distributed constraint optimization approaches.
We experimentally show an example where the balance of allocated regions among agents is relatively improved with the proposed approach.
In general cases, there are various requirements for observation systems such as patrolling, exploration, tracking and cooperative sensing. These tasks also require the formation of robots and the allocation of observation areas.
To manage complex sub-tasks simultaneously, a general approach based on constraint optimization problems and decentralized solution methods in multiagent systems will be promising.
As a fundamental study, we address a simple model for patrolling problems with the allocation of observation areas to multiple robots based on distributed constraint optimization approaches.
We experimentally show an example where the balance of allocated regions among agents is relatively improved with the proposed approach.