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History of Robotics Research and Development of Japan1992LocomotionA Method of Cooperative Task Assignment by Multiple Autonomous Robots Based on Decentrialized Management Using Communication

Hajime ASAMARiken
Koichi OZAKIRiken
Akihiro MATSUMOTOUtsunomiya University
Yoshiki ISHIDAToyo University
Isao ENDOMedia Exchenge, Ltd.
As one of problems that occur when multiple autonomous robots act in a common environment, task assignment is discussed in this paper. There are two patterns in terms of action of multiple-robots. Namely, one is parallel, individual action, and another is cooperative action. Object pushing problem is taken as a typical task, where both of patterns of action are necessary. At first, a method of decentralized management of situation of tasks and robots using communication is proposed. Then, algorithm for robots to process tasks related to the situation based on the managed information is developed. Finally, a simulation system for object pushing tasks and a wireless communication system between the simulators are developed. As a result of experiments using the simulation system, the tasks are processed by robots cooperatively, and the proposed method is verified. In addition, the efficiency by parallel action and the executability of high-level tasks by cooperative action are proved.
図1　無線通信を用いた複数台自律移動ロボットの協調動作による荷片付け動作の様子
Fig. 1 Cooperative Task Assignment by Multiple Autonomous Robots Based on Decentrialized Management Using Communication
 

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Cooperative Task Assignment by Multiple Autonomous Robots Based on Decentrialized Management Using Communication

Correspondence papers

H. Asama, K. Ozaki, A. Matsumoto, Y. Ishida, and I. Endo：A Method of Cooperative Task Assignment by Multiple Autonomous Robots Based on Decentralized Management Using Communication

Journal of the Robotics Society of Japan, Vol. 10,No. 7, pp. 955-963, 1992 (in Japanese).

H. Asama, K. Ozaki, A. Matsumoto, Y. Ishida, and I. Endo：Development of Task Assignment System Using Communication for Multiple Autonomous Robots

J. Robotics and Mechatronics, vol. 4, no. 2, pp. 122-127 (1992).

Related papers

[1] 石田慶樹，淺間　一，尾崎功一，松元明弘，遠藤　勲："自律分散型ロボットシステムのための通信機能の設計と通信シミュレータの開発"，日本ロボット学会誌, vol. 10, no. 4, pp. 544-551 (1992).

[2] 尾崎功一，淺間　一，石田慶樹，横田和隆，松元明弘，嘉悦早人，遠藤　勲："自律分散型ロボットシステムにおける通信を用いた協調チーム編成手法の開発と評価"，日本機械学会論文集（Ｃ編）, vol. 61, no. 587, pp. 3039-3044 (1995).

[3] 尾崎功一，淺間　一，石田慶樹，松元明弘，遠藤　勲："自律分散型ロボットシステムのための無線通信システムの開発"，精密工学会誌, vol. 61, no. 8, pp. 1136-1140 (1995).

[4] 尾崎功一，淺間　一，石田慶樹，松元明弘，遠藤　勲："通信を用いた複数自律ロボットの相互衝突回避"，日本ロボット学会誌, vol. 14, no. 7, pp. 961-967 (1996).

[5] H. Asama, A. Matsumoto, Y. Ishida: "Design of an Autonomous and Distributed Robot System: ACTRESS", Proc. of IEEE/RSJ Int. Workshop on Intelligent Robots and Systems, pp. 283-290 (1989).

[6] H. Asama, K. Ozaki, Y. Ishida, M. K. Habib, A. Matsumoto, I. Endo: "Functional Distribution among Multiple Mobile Robots in An Autonomous and Decentralized Robot System", Proc. of IEEE Int. Conf. on Robotic and Automation, pp. 1921-1926 (1991).

[7] K. Ozaki, H. Asama, Y. Ishida, A. Matsumoto, K. Yokota, H. Kaetsu, I. Endo: "Synchronized Motion by Multiple Mobile Robots Using Communication", Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 1164-1169 (1993).

[8] H. Asama, K. Ozaki, Y. Ishida, K. Yokota, A. Matsumoto, H. Kaetsu, I. Endo: "Strategy for Cooperative Motion of Multiple Robots in a Decentralized Robotic System", SME Trans. on Robotics Research, MS94-236, pp. 1-11 (1994).

[9] K. Ozaki, H. Asama, Y. Ishida, K. Yokota, A. Matsumoto, H. Kaetsu, I. Endo: "Negotiation Method for Collaborating Team Organization among Multiple Robots", in Distributed Autonomous Robotic Systems (H. Asama, T. Fukuda, T. Arai and I. Endo Eds.), Springer-Verlag, Tokyo, pp. 199-210 (1994).

[10] H. Asama, K. Ozaki, Y. Ishida, K. Yokota, A. Matsumoto, H. Kaetsu, I. Endo: "Collaborative Team Organization Using Communication in a Decentralized Robotic System", Proc. of IEEE/RSJ Int. Conf. on Intelligent Robot and Systems, pp. 816-823 (1994).

[11] K. Ozaki, H. Asama, Y. Ishida, A. Matsumoto and I. Endo: "Collision Avoidance Using Communication between Autonomous Mobile Robots", J. of Robotics and Mechatronics, vol. 8, no. 5, pp. 459-466 (1996).

[12] K. Ozaki, H. Asama, I. Endo: "Distributed and Cooperative Object Pushing by Multiple Mobile Robots Based on Communication", Advanced Robotics, vol. 11, no. 5, pp. 501-518 (1997).

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