Cano, J. , White, D. R., Bordallo, A., McCreesh, C., Prosser, P. , Singer, J. and Nagarajan, V. (2016) Task Variant Allocation in Distributed Robotics. In: Robotics Science and Systems 2016, Ann Arbor, MI, USA, 18-22 June 2016, ISBN 9780992374723 (doi: 10.15607/RSS.2016.XII.045)
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Abstract
This paper tackles the problem of allocating tasks to a distributed heterogeneous robotic system, where tasks---named *task variants* in the paper---can vary in terms of trade-off between resource requirements and quality of service provided. Three different methods (constraint programming, greedy, and metaheuristic) are proposed to solve such a problem and are evaluated both in simulation and in a real scenario, showing the goodness of the constraint programming method.
| Item Type: | Conference Proceedings |
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| Status: | Published |
| Refereed: | Yes |
| Glasgow Author(s) Enlighten ID: | Cano Reyes, Dr Jose and White, Dr David and Mccreesh, Dr Ciaran and Singer, Dr Jeremy and Prosser, Dr Patrick |
| Authors: | Cano, J., White, D. R., Bordallo, A., McCreesh, C., Prosser, P., Singer, J., and Nagarajan, V. |
| College/School: | College of Science and Engineering > School of Computing Science |
| Journal Name: | Robotics Science and Systems 2016 |
| ISBN: | 9780992374723 |
| Copyright Holders: | Copyright © 2016 The Authors |
| First Published: | First published in Robotics Science and Systems 2016 |
| Publisher Policy: | Reproduced with permission of the Editor |
| Related URLs: |
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