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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 language | English |
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Title of host publication | 2022 IEEE 20th International Conference on Industrial Informatics, INDIN 2022 |
Publisher | IEEE Institute of Electrical and Electronic Engineers |
Pages | 380-386 |
ISBN (Electronic) | 978-1-7281-7568-3 |
ISBN (Print) | 978-1-7281-7569-0 |
DOIs | |
Publication status | Published - 15 Dec 2022 |
MoE publication type | A4 Article in a conference publication |
Event | 20th IEEE International Conference on Industrial Informatics, INDIN 2022 - Online, Perth, Australia Duration: 25 Jul 2022 → 28 Jul 2022 https://2022.ieee-indin.org/ |
Conference
Conference | 20th IEEE International Conference on Industrial Informatics, INDIN 2022 |
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Country/Territory | Australia |
City | Perth |
Period | 25/07/22 → 28/07/22 |
Internet address |
Keywords
- autonomous
- mobile robot fleet
- entropy
Fingerprint
Dive into the research topics of 'Entropy-based coordination for maintenance tasks of an autonomous mobile robot system'. Together they form a unique fingerprint.Projects
- 1 Finished
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AURORA: Autonomous Performance Management in Digital Manufacturing
Koskinen, J. (Participant), Heikkilä, T. (PI), Ahola, J. M. (Participant), Fox, S. (Participant), Saukkoriipi, J. (Participant), Halbach, E. (Manager) & Soutukorva, S. (Participant)
1/09/20 → 31/08/23
Project: Academy of Finland project