Autonomic Mobile Sensor Network With Self-Coordinated Task Allocation and Execution  

Oleh:

Kian Hsiang Low ; Wee Kheng Leow ; Ang, Marcelo H.

Jenis: Article from Journal - ilmiah internasional
Dalam koleksi: IEEE Transactions on Systems, Man, and Cybernetics: Part C Applications and Reviews vol. 36 no. 3 (May 2006), page 315-327.
Topik: Motion Control; Multirobor Architecture; Self-Organizing Neural Networks; warm Intelligence; Task Allocation

Ketersediaan

Perpustakaan Pusat (Semanggi) Nomor Panggil: II69.2 Non-tandon: 1 (dapat dipinjam: 0) Tandon: tidak ada

Lihat Detail Induk

Isi artikel

This paper describes a distributed layered architecture for resource-constrained multirobot cooperation, which is utilized in autonomic mobile sensor network coverage. In the upper layer, a dynamic task allocation scheme self-organizes the robot coalitions to track efficiently across regions. It uses concepts of ant behavior to self-regulate the regional distributions of robots in proportion to that of the moving targets to be tracked in a nonstationary environment. As a result, the adverse effects of task interference between robots are minimized and network coverage is improved. In the lower task execution layer, the robots use self-organizing neural networks to coordinate their target tracking within a region. Both layers employ self-organization techniques, which exhibit autonomic properties such as self-configuring, self-optimizing, self-healing, and self-protecting. Quantitative comparisons with other tracking strategies such as static sensor placements, potential fields, and auction-based negotiation show that our layered approach can provide better coverage, greater robustness to sensor failures, and greater flexibility to respond to environmental changes.

Opini Anda

Klik untuk menuliskan opini Anda tentang koleksi ini!

Kembali