TY - JOUR
T1 - Multiple robot task distribution
T2 - Towards an autonomous photogrammetric system
AU - Olague, Gustavo
AU - Dunn, Enrique
PY - 2001
Y1 - 2001
N2 - Automation of photogrammetric tasks by means of manipulator robots is a complex problem. It involves planning and controlling many aspects that reflect on the overall system performance in terms of precision and efficiency. This paper deals with the problem of task distribution for a multiple manipulator work cell with the goal of obtaining highly accurate object measurements. Task distribution is separated into two independent combinatorial optimization problems: activity assignment and tour planning. These problems are solved simultaneously by an optimization method based on genetic algorithms. This method implements a series of restriction-based heuristics in order to utilize a simple genetic representation similar to random keys. Experiments that validate the effectiveness of our approach are presented.
AB - Automation of photogrammetric tasks by means of manipulator robots is a complex problem. It involves planning and controlling many aspects that reflect on the overall system performance in terms of precision and efficiency. This paper deals with the problem of task distribution for a multiple manipulator work cell with the goal of obtaining highly accurate object measurements. Task distribution is separated into two independent combinatorial optimization problems: activity assignment and tour planning. These problems are solved simultaneously by an optimization method based on genetic algorithms. This method implements a series of restriction-based heuristics in order to utilize a simple genetic representation similar to random keys. Experiments that validate the effectiveness of our approach are presented.
KW - Computational photogrammetry
KW - Genetic algorithms
KW - Multiple robots
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U2 - 10.1109/ICSMC.2001.972017
DO - 10.1109/ICSMC.2001.972017
M3 - Article
AN - SCOPUS:0035722733
SN - 0884-3627
VL - 5
SP - 3235
EP - 3240
JO - Proceedings of the IEEE International Conference on Systems, Man and Cybernetics
JF - Proceedings of the IEEE International Conference on Systems, Man and Cybernetics
ER -