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Khaluf, Yara: Task allocation in robot swarms for time-constrained tasks. 2014
Inhalt
1 Introduction
1.1 Problem Statement
1.2 Scientific Contribution
1.3 Organization of the Thesis
2 Background
2.1 Swarm Background
2.1.1 Swarm Intelligence in Nature
2.1.2 Swarm Intelligence in Artificial Systems
2.1.2.1 Swarm Intelligence in Optimization
2.1.2.2 Swarm Robotics
2.2 Mathematical Background
2.2.1 Probability Distribution
2.2.2 Markov Chains
2.2.2.1 Poisson Process
3 Related Work
3.1 Mathematical Modeling of Swarm Robotics
3.2 Task Allocation in Multi-robot Systems
3.2.1 General Task Allocation
3.2.2 Task Allocation under Deadlines and Priority Constraints
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
5.2.2.1 Semi-Markov Model for Individual Robots' Behavior
5.2.2.2 Poisson Model for Swarm Performance
5.2.2.3 Task Allocation Strategy for Hard-deadlines under Dynamic Allocation
5.2.2.4 Scenario and Evaluation
5.3 Soft-deadline Tasks
5.3.1 Task Allocation Strategy for Soft-deadline Tasks under Static Allocation
5.3.1.1 Scenario and Evaluation
5.3.2 Task Allocation Strategy for Soft-deadline Tasks under Dynamic Allocation
5.3.2.1 Scenario and Evaluation
5.4 Conclusions
6 Applications: Bio-Inspired Foraging
6.1 Foraging
6.2 Simulations
6.2.1 The ARGoS Simulator
6.2.2 Setup Foraging Experiment
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
7.1 Summary of Contributions
7.2 Future Work
A The Probability Functions of n Truncated Exponentially Distributed Variables
List of Publications
References
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