Cooperation work with sequence determination by multi-robot system

Hisashi Ishiwata, Kazuo Nakazawa

Research output: Contribution to journalArticle

Abstract

Multi-robot system under decentralized control has become to attract international attention as a solution for the difficult and complex tasks. Decentralized systems are expected to have flexibility of architecture and fault tolerance. But these systems are not suitable for the tasks that their order of work have to be considered, because in many cases, each robot's behavior and whole system's purpose are hard to match. This paper describes the algorithm for multi-robot system to solve such 'sequential' tasks using idea of social choice theory and petri net. The introduction of multi-robot system that is developed in this research is also described in this paper.

Original languageEnglish
Pages (from-to)214-221
Number of pages8
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume73
Issue number1
Publication statusPublished - 2007 Jan

Fingerprint

Robots
Decentralized control
Fault tolerance
Petri nets

Keywords

  • Cooperation
  • Decentralized control
  • Multi-robot
  • Petri net
  • Social choice theory

ASJC Scopus subject areas

  • Mechanical Engineering

Cite this

@article{4de7f760bd12465fbe92d52e48fa025a,
title = "Cooperation work with sequence determination by multi-robot system",
abstract = "Multi-robot system under decentralized control has become to attract international attention as a solution for the difficult and complex tasks. Decentralized systems are expected to have flexibility of architecture and fault tolerance. But these systems are not suitable for the tasks that their order of work have to be considered, because in many cases, each robot's behavior and whole system's purpose are hard to match. This paper describes the algorithm for multi-robot system to solve such 'sequential' tasks using idea of social choice theory and petri net. The introduction of multi-robot system that is developed in this research is also described in this paper.",
keywords = "Cooperation, Decentralized control, Multi-robot, Petri net, Social choice theory",
author = "Hisashi Ishiwata and Kazuo Nakazawa",
year = "2007",
month = "1",
language = "English",
volume = "73",
pages = "214--221",
journal = "Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C",
issn = "0387-5024",
publisher = "Japan Society of Mechanical Engineers",
number = "1",

}

TY - JOUR

T1 - Cooperation work with sequence determination by multi-robot system

AU - Ishiwata, Hisashi

AU - Nakazawa, Kazuo

PY - 2007/1

Y1 - 2007/1

N2 - Multi-robot system under decentralized control has become to attract international attention as a solution for the difficult and complex tasks. Decentralized systems are expected to have flexibility of architecture and fault tolerance. But these systems are not suitable for the tasks that their order of work have to be considered, because in many cases, each robot's behavior and whole system's purpose are hard to match. This paper describes the algorithm for multi-robot system to solve such 'sequential' tasks using idea of social choice theory and petri net. The introduction of multi-robot system that is developed in this research is also described in this paper.

AB - Multi-robot system under decentralized control has become to attract international attention as a solution for the difficult and complex tasks. Decentralized systems are expected to have flexibility of architecture and fault tolerance. But these systems are not suitable for the tasks that their order of work have to be considered, because in many cases, each robot's behavior and whole system's purpose are hard to match. This paper describes the algorithm for multi-robot system to solve such 'sequential' tasks using idea of social choice theory and petri net. The introduction of multi-robot system that is developed in this research is also described in this paper.

KW - Cooperation

KW - Decentralized control

KW - Multi-robot

KW - Petri net

KW - Social choice theory

UR - http://www.scopus.com/inward/record.url?scp=34248390523&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=34248390523&partnerID=8YFLogxK

M3 - Article

AN - SCOPUS:34248390523

VL - 73

SP - 214

EP - 221

JO - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C

JF - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C

SN - 0387-5024

IS - 1

ER -