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|Title:||Reactive, distributed layered architecture for resource-bounded multi-robot cooperation: Application to mobile sensor network coverage|
|Authors:||Low, K.H. |
Ang Jr., M.H.
|Citation:||Low, K.H.,Leow, W.K.,Ang Jr., M.H. (2004). Reactive, distributed layered architecture for resource-bounded multi-robot cooperation: Application to mobile sensor network coverage. Proceedings - IEEE International Conference on Robotics and Automation 2004 (4) : 3747-3752. ScholarBank@NUS Repository.|
|Abstract:||This paper describes a reactive, distributed layered architecture for cooperation of multiple resource-bounded robots, which is utilized in mobile sensor network coverage. In the upper layer, a dynamic task allocation scheme self-organizes the robot coalitions to track efficiently in separate regions. It uses the concepts of ant behavior to self-regulate the regional distributions of robots in proportion to that of the targets to be tracked in the changing environment. As a result, the adverse effects of task interference between robots are minimized and sensor network coverage is improved. In the lower layer, the robots use self-organizing neural networks to coordinate their target tracking within a region. Quantitative comparisons with other tracking strategies such as static sensor placements, potential fields, and auction-based negotiation show that our approach can provide better coverage and greater flexibility in responding to environmental changes.|
|Source Title:||Proceedings - IEEE International Conference on Robotics and Automation|
|Appears in Collections:||Staff Publications|
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