论文标题
需求驱动的异质多机器人合作在救援任务中
Needs-driven Heterogeneous Multi-Robot Cooperation in Rescue Missions
论文作者
论文摘要
本文着重于组合方面和异质性在应用于机器人辅助城市搜救（USAR）任务的多机器人系统中的作用。我们建议通过行为树结构代表的需求驱动的多机器人合作机制，并根据团体实用性和能源成本评估系统的性能，以在有限的时间内实现救援任务。从理论分析中，我们证明了异质机器人系统中需求驱动的合作比同质机器人系统更高的组效用。我们还执行模拟实验来验证提出的需求驱动的协作，并表明异质的多机器人合作可以通过降低任务执行的不确定性来实现更好的性能并提高系统鲁棒性。最后，我们讨论了对人类机器人团队的申请。
This paper focuses on the teaming aspects and the role of heterogeneity in a multi-robot system applied to robot-aided urban search and rescue (USAR) missions. We propose a needs-driven multi-robot cooperation mechanism represented through a Behavior Tree structure and evaluate the system's performance in terms of the group utility and energy cost to achieve the rescue mission in a limited time. From the theoretical analysis, we prove that the needs-driven cooperation in a heterogeneous robot system enables higher group utility than a homogeneous robot system. We also perform simulation experiments to verify the proposed needs-driven collaboration and show that the heterogeneous multi-robot cooperation can achieve better performance and increase system robustness by reducing uncertainty in task execution. Finally, we discuss the application to human-robot teaming.
