Given a system of overactuated heterogeneous robots executing several tasks, we propose an algorithm that simultaneously assigns the tasks considering the different nature of the robots, and allocates the control while satisfying the limitations on the actuators. The efficiency of the proposed method has been tested in terms of robustness with respect to faults by means of numerical simulations, analysing different scenarios.
A Fault-Tolerant Task Allocation Framework for Overactuated Multi-Robot Systems / Govoni, Lorenzo; Cristofaro, Andrea. - (2023), pp. 287-292. (Intervento presentato al convegno 9th International Conference on Control, Decision and Information Technologies, CoDIT 2023 tenutosi a Rome; Italy) [10.1109/CoDIT58514.2023.10284147].
A Fault-Tolerant Task Allocation Framework for Overactuated Multi-Robot Systems
Govoni, Lorenzo
;Cristofaro, Andrea
2023
Abstract
Given a system of overactuated heterogeneous robots executing several tasks, we propose an algorithm that simultaneously assigns the tasks considering the different nature of the robots, and allocates the control while satisfying the limitations on the actuators. The efficiency of the proposed method has been tested in terms of robustness with respect to faults by means of numerical simulations, analysing different scenarios.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
