A Resilient and Energy-Aware Task Allocation Framework for Heterogeneous Multirobot Systems

In the context of heterogeneous multirobot teams deployed for executing multiple tasks, this article develops an energy-aware framework for allocating tasks to robots in an online fashion. With a primary focus on long-duration autonomy applications, we opt for a survivability-focused approach. Towar...

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Bibliographic Details
Published in:	IEEE transactions on robotics Vol. 38; no. 1; pp. 159 - 179
Main Authors:	Notomista, Gennaro, Mayya, Siddharth, Emam, Yousef, Kroninger, Christopher, Bohannon, Addison, Hutchinson, Seth, Egerstedt, Magnus
Format:	Journal Article
Language:	English
Published:	New York IEEE 01.02.2022 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Context Energy and environment-aware automation Energy management failure detection and recovery Multiple robots multirobot systems Optimization path planning for multiple mobile robots or agents Resilience Resource management Robot kinematics Robot sensing systems Robots robust/adaptive control of robotic systems Survivability Task analysis task planning
ISSN:	1552-3098, 1941-0468
Online Access:	Get full text
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