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dc.contributor.authorAyanian, Nora
dc.contributor.authorSung, Cynthia Rueyi
dc.contributor.authorRus, Daniela L.
dc.date.accessioned2014-10-07T19:01:11Z
dc.date.available2014-10-07T19:01:11Z
dc.date.issued2013-05
dc.identifier.isbn978-1-4673-5643-5
dc.identifier.isbn978-1-4673-5641-1
dc.identifier.issn1050-4729
dc.identifier.urihttp://hdl.handle.net/1721.1/90596
dc.description.abstractWe consider the problem of task assignment for a multi-robot system where each robot must attend to one or more queues of tasks. We assume that individual robots have no knowledge of tasks in the environment that are not in their queue. Robots in communication with each other may share information about active tasks and exchange queues to achieve lower cost for the system. We show that allowing this kind of task switching causes tasks to be completed more efficiently. In addition, we present conditions under which queues can be guaranteed to make progress, and we support these claims with simulation and experimental results. This work has potential applications in manufacturing, environmental exploration, and pickup-delivery tasks.en_US
dc.description.sponsorshipUnited States. Office of Naval Research. Multidisciplinary University Research Initiative (Grant N00014-09-1-1051)en_US
dc.description.sponsorshipUnited States. Office of Naval Research. Multidisciplinary University Research Initiative (Grant N00014-09-1-1031)en_US
dc.description.sponsorshipNational Science Foundation (U.S.) (Award IIS-1117178)en_US
dc.description.sponsorshipAmerican Society for Engineering Education. National Defense Science and Engineering Graduate Fellowshipen_US
dc.language.isoen_US
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)en_US
dc.relation.isversionofhttp://dx.doi.org/10.1109/ICRA.2013.6630993en_US
dc.rightsCreative Commons Attribution-Noncommercial-Share Alikeen_US
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/4.0/en_US
dc.sourceMIT web domainen_US
dc.titleImproving the performance of multi-robot systems by task switchingen_US
dc.typeArticleen_US
dc.identifier.citationSung, Cynthia, Nora Ayanian, and Daniela Rus. “Improving the Performance of Multi-Robot Systems by Task Switching.” 2013 IEEE International Conference on Robotics and Automation (May 2013).en_US
dc.contributor.departmentMassachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratoryen_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Electrical Engineering and Computer Scienceen_US
dc.contributor.departmentMassachusetts Institute of Technology. School of Engineeringen_US
dc.contributor.mitauthorSung, Cynthia Rueyien_US
dc.contributor.mitauthorAyanian, Noraen_US
dc.contributor.mitauthorRus, Daniela L.en_US
dc.relation.journalProceedings of the 2013 IEEE International Conference on Robotics and Automationen_US
dc.eprint.versionAuthor's final manuscripten_US
dc.type.urihttp://purl.org/eprint/type/ConferencePaperen_US
eprint.statushttp://purl.org/eprint/status/NonPeerRevieweden_US
dspace.orderedauthorsSung, Cynthia; Ayanian, Nora; Rus, Danielaen_US
dc.identifier.orcidhttps://orcid.org/0000-0001-5473-3566
dc.identifier.orcidhttps://orcid.org/0000-0002-8967-1841
mit.licenseOPEN_ACCESS_POLICYen_US


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