Affective Recruitment of Distributed Heterogeneous Agents

نویسندگان

  • Aaron Gage
  • Robin R. Murphy
چکیده

Members of multi-robot teams may need to collaborate to accomplish a task due to differences in capabilities. This paper describes an extension of the ALLIANCE architecture that enables agent recruitment within a decentralized UAV-UGV robot team without task preemption but 1) uses a formal model of emotions and 2) handles heterogeneity. Affective computing allows recruitment to be robust under loss of communication between agents and minimizes the number of messages passed. Data from 66 simulations show that the affective strategy succeeds with a random message loss rate up to 25% and requires 19.1% fewer messages to be sent compared to greedy and random, and that of these, affective scales best with team size. Comparisons of broadcast to unicast messaging are also made in simu-

برای دانلود رایگان متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Adaptive Distributed Consensus Control for a Class of Heterogeneous and Uncertain Nonlinear Multi-Agent Systems

This paper has been devoted to the design of a distributed consensus control for a class of uncertain nonlinear multi-agent systems in the strict-feedback form. The communication between the agents has been described by a directed graph. Radial-basis function neural networks have been used for the approximation of the uncertain and heterogeneous dynamics of the followers as well as the effect o...

متن کامل

Affective Task Allocation for Distributed Multi-Robot Teams

This article presents a novel emotion-based recruitment approach to the multi-robot task allocation problem. This approach requires less communication bandwidth than auction methods, enabling it to scale to large team sizes, and making it appropriate for low-power or stealth applications. Affective recruitment is tolerant of unreliable communications channels, and can find better solutions than...

متن کامل

Distributed Incremental Least Mean-Square for Parameter Estimation using Heterogeneous Adaptive Networks in Unreliable Measurements

Adaptive networks include a set of nodes with adaptation and learning abilities for modeling various types of self-organized and complex activities encountered in the real world. This paper presents the effect of heterogeneously distributed incremental LMS algorithm with ideal links on the quality of unknown parameter estimation. In heterogeneous adaptive networks, a fraction of the nodes, defi...

متن کامل

A new Shuffled Genetic-based Task Scheduling Algorithm in Heterogeneous Distributed Systems

Distributed systems such as Grid- and Cloud Computing provision web services to their users in all of the world. One of the most important concerns which service providers encounter is to handle total cost of ownership (TCO). The large part of TCO is related to power consumption due to inefficient resource management. Task scheduling module as a key component can has drastic impact on both user...

متن کامل

A model for employer’s decision for recruitment

This paper presents a theoretical and empirical analysis of this decision and how it relates to wage setting and the provision of general training. The theoretical framework is a promotion tournament involving M competing firms with heterogeneous productivities, two-level job hierarchies, and a fixed number of managerial positions. This paper also considers an alternative model based on variati...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

عنوان ژورنال:

دوره   شماره 

صفحات  -

تاریخ انتشار 2004