Khaluf, Yara: Task allocation in robot swarms for time-constrained tasks. 2014
Inhalt
- 1 Introduction
- 2 Background
- 2.1 Swarm Background
- 2.2 Mathematical Background
- 3 Related Work
- 4 Swarm Performance Modeling
- 4.1 Chapter Notations
- 4.2 Swarm Performance
- 4.3 Swarm Performance under Spatial Interferences
- 4.4 Static Task Allocation
- 4.4.1 Swarm Performance Modeling under Static Allocation
- 4.4.2 Probability Analysis of the Constrained Swarm Performance under Static Allocation
- 4.4.3 Performance Variance Estimation under Static Allocation
- 4.5 Dynamic Task Allocation
- 4.5.1 Swarm Performance Modeling under Dynamic Allocation
- 4.5.2 Probability Analysis of the Constrained Swarm Performance under Dynamic Allocation
- 4.5.3 Performance Variance Estimation under Dynamic Allocation
- 4.6 Conclusions
- 5 Task Allocation Design
- 5.1 Chapter Notations
- 5.2 Hard-deadline Tasks
- 5.2.1 Task Allocation for Hard-deadline Tasks under Static Allocation
- 5.2.1.1 Energy-aware Allocation for Hard-deadline Tasks under Static Allocation
- 5.2.1.2 Robots-aware Allocation for Hard-deadline Tasks under Static Allocation
- 5.2.1.3 Scenario and Evaluation
- 5.2.2 Task Allocation for Hard-deadline Tasks under Dynamic Allocation
- 5.3 Soft-deadline Tasks
- 5.3.1 Task Allocation Strategy for Soft-deadline Tasks under Static Allocation
- 5.3.2 Task Allocation Strategy for Soft-deadline Tasks under Dynamic Allocation
- 5.4 Conclusions
- 6 Applications: Bio-Inspired Foraging
- 6.1 Foraging
- 6.2 Simulations
- 6.3 Static Allocation
- 6.3.1 Hard-deadline Foraging under Static Allocation
- 6.3.2 Soft-deadline Foraging under Static Allocation
- 6.4 Dynamic Allocation
- 6.4.1 Hard-deadline Foraging under Dynamic Allocation
- 6.4.2 Soft-deadline Foraging under Dynamic Allocation
- 6.5 Conclusions
- 7 Conclusion
- A The Probability Functions of n Truncated Exponentially Distributed Variables
- List of Publications
- References