Entropy-based coordination for maintenance tasks of an autonomous mobile robot system

Research output: Chapter in Book/Report/Conference proceedingConference article in proceedingsScientificpeer-review

Abstract

Maintenance tasks represent a potential area for applying multi-purpose Autonomous Mobile Robots (AMRs). Intelligent control and coordination of such a system is challenging and optimization methods are feasible only for small fleets. Decentralized control can provide flexibility and robustness, which are better applicable also for large fleets, though with less guaranteed performance. Our focus is on flexibility and robustness in task scheduling and task assignments and we use entropy as an indirect performance criterion for coordination, both at the system level (maximize entropy) and at the AMR level (minimize entropy). As a distributed coordination scheme, we use a modified contract negotiation protocol. We show preliminarily the feasibility of our approach with simulation results.
Original languageEnglish
Title of host publication2022 IEEE 20th International Conference on Industrial Informatics, INDIN 2022
PublisherIEEE Institute of Electrical and Electronic Engineers
Pages380-386
Number of pages7
ISBN (Electronic)978-1-7281-7568-3
ISBN (Print)978-1-7281-7569-0
DOIs
Publication statusPublished - 15 Dec 2022
MoE publication typeA4 Article in a conference publication
Event20th IEEE International Conference on Industrial Informatics, INDIN 2022 - Online, Perth, Australia
Duration: 25 Jul 202228 Jul 2022
https://2022.ieee-indin.org/

Conference

Conference20th IEEE International Conference on Industrial Informatics, INDIN 2022
Country/TerritoryAustralia
CityPerth
Period25/07/2228/07/22
Internet address

Keywords

  • autonomous
  • mobile robot fleet
  • entropy

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