Coordination and Control of Autonomous Mobile Robot Systems with Entropy as a Dualistic Performance Measure

Eric Halbach; Tapio Heikkila

doi:10.1109/IECON51785.2023.10312545

Coordination and Control of Autonomous Mobile Robot Systems with Entropy as a Dualistic Performance Measure

BA5602 Intelligent robotics

Research output: Chapter in Book/Report/Conference proceeding › Conference article in proceedings › Scientific › peer-review

1 Citation (Scopus)

Abstract

Intelligent control and coordination of an Au-tonomous Mobile Robot (AMR) fleet is a challenging problem. Optimization of the fleet performance using centralized control is feasible only for small fleets. Decentralized control, on the other hand, is feasible also for large fleets and features flexibility and robustness. We emphasize this flexibility and robustness and consider intelligent control as the capability of a system of mobile robots to manage and handle as many maintenance tasks as possible at any time. We focus on task assignments and use entropy in a dualistic way. For task assignments, maximization of potential entropy is sought for the set of tasks supported by available AMRs. By contrast, task performance is considered by minimization of the expected actual entropy of the AMR's task execution. Distributed fleet control is proposed with a contract negotiation protocol utilizing the entropy maximization and minimization measures.

Original language	English
Title of host publication	IECON 2023 - 49th Annual Conference of the IEEE Industrial Electronics Society
Publisher	IEEE Institute of Electrical and Electronic Engineers
ISBN (Electronic)	979-8-3503-3182-0
ISBN (Print)	979-8-3503-3183-7
DOIs	https://doi.org/10.1109/IECON51785.2023.10312545
Publication status	Published - 2023
MoE publication type	A4 Article in a conference publication
Event	49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023 - Singapore, Singapore Duration: 16 Oct 2023 → 19 Oct 2023

Conference

Conference	49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023
Country/Territory	Singapore
City	Singapore
Period	16/10/23 → 19/10/23

Funding

Research supported by the Academy of Finland and VTT Technical Research Centre of Finland Ltd.

Keywords

entropy
mobile service robots
task allocation

Access to Document

10.1109/IECON51785.2023.10312545

Cite this

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title = "Coordination and Control of Autonomous Mobile Robot Systems with Entropy as a Dualistic Performance Measure",

abstract = "Intelligent control and coordination of an Au-tonomous Mobile Robot (AMR) fleet is a challenging problem. Optimization of the fleet performance using centralized control is feasible only for small fleets. Decentralized control, on the other hand, is feasible also for large fleets and features flexibility and robustness. We emphasize this flexibility and robustness and consider intelligent control as the capability of a system of mobile robots to manage and handle as many maintenance tasks as possible at any time. We focus on task assignments and use entropy in a dualistic way. For task assignments, maximization of potential entropy is sought for the set of tasks supported by available AMRs. By contrast, task performance is considered by minimization of the expected actual entropy of the AMR's task execution. Distributed fleet control is proposed with a contract negotiation protocol utilizing the entropy maximization and minimization measures.",

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booktitle = "IECON 2023 - 49th Annual Conference of the IEEE Industrial Electronics Society",

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note = "49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023 ; Conference date: 16-10-2023 Through 19-10-2023",

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Halbach, E & Heikkila, T 2023, Coordination and Control of Autonomous Mobile Robot Systems with Entropy as a Dualistic Performance Measure. in IECON 2023 - 49th Annual Conference of the IEEE Industrial Electronics Society. IEEE Institute of Electrical and Electronic Engineers, 49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023, Singapore, Singapore, 16/10/23. https://doi.org/10.1109/IECON51785.2023.10312545

Coordination and Control of Autonomous Mobile Robot Systems with Entropy as a Dualistic Performance Measure. / Halbach, Eric ; Heikkila, Tapio.
IECON 2023 - 49th Annual Conference of the IEEE Industrial Electronics Society. IEEE Institute of Electrical and Electronic Engineers, 2023.

Research output: Chapter in Book/Report/Conference proceeding › Conference article in proceedings › Scientific › peer-review

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AU - Halbach, Eric

AU - Heikkila, Tapio

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AB - Intelligent control and coordination of an Au-tonomous Mobile Robot (AMR) fleet is a challenging problem. Optimization of the fleet performance using centralized control is feasible only for small fleets. Decentralized control, on the other hand, is feasible also for large fleets and features flexibility and robustness. We emphasize this flexibility and robustness and consider intelligent control as the capability of a system of mobile robots to manage and handle as many maintenance tasks as possible at any time. We focus on task assignments and use entropy in a dualistic way. For task assignments, maximization of potential entropy is sought for the set of tasks supported by available AMRs. By contrast, task performance is considered by minimization of the expected actual entropy of the AMR's task execution. Distributed fleet control is proposed with a contract negotiation protocol utilizing the entropy maximization and minimization measures.

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BT - IECON 2023 - 49th Annual Conference of the IEEE Industrial Electronics Society

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ER -

Coordination and Control of Autonomous Mobile Robot Systems with Entropy as a Dualistic Performance Measure

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Keywords

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