Towards task and motion coordination of multi-robot systems
Contributions à la coordination de tâches et de mouvements pour un système multi-robots
Résumé
This thesis studies the issue of multi-robot coordination from the standpoint of planning, which contains task planning and motion planning. Two new approaches are proposed for the task planning. The first one is a decentralized approach based on trading rules. This approach is designed to simulate the relationship between buyers and sellers in a business system, to achieve dynamic task allocation by using a mechanism of unsolicited bid. The second approach is an heuristic one which is based on an empirical model. It is designed to assign the transportation task to individual robots by estimating the production rate of goods in a centralized system. Two new approaches are proposed for the motion planning. Both are sampling-based approaches, designed to plan separate kinematic paths for multiple robots to minimize the issue of waiting situation including congestion, collision and deadlock, in an effective way in order to improve the system planning efficiency. All these proposed approaches have been tested and evaluated through simulation experiments.
Nous étudions dans ce mémoire le problème de la coordination de tâches et de mouvements pour un système multi-robots du point de vue de la planification. Nos travaux se concrétisent par quatre nouvelles approches : une approche contrarienne centrée sur les échanges, une approche heuristique basée sur un modèle empirique, une approche par échantillonnage dédié à la décision et une approche par échantillonnage adaptatif. Toutes les approches proposées dans ce mémoire ont été testées et évaluées par des expériences de simulation.
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