Akıllı Tarım Uygulamalarında Robotik Kablosuz Sensör Ağlarında Çoklu Robot Görev Tahsisi

Yıl 2023, Cilt: 13 Sayı: 3, 35 - 44, 18.10.2023

Ömer Melih Gül

Öz

Bu bildiri, akıllı tarım uygulamalarında bir baz istasyonu ve birkaç robot kümesi içeren bir robot ağ kümesinde enerji farkında çok robotlu görev tahsisi (ÇRGT) problemi incelemektedir. Her turda M sayıda görev ve M +1 robot bulunur. Bir robot, küme başkanı seçilir ve o turdaki her robota bir görev verir. Kalan M robotlarından veri toplar ve bunu baz istasyonuna gönderir. Bu çalışma, her bir düğümün seyahat mesafesi, her görev için gereken enerji, pil seviyesi ve enerji toplama kapasitelerini göz önünde bulundurarak M görevlerini kalan M robotlarına optimum veya ideale yakın olarak tahsis eder. Bu bildiri, makine öğrenmesi tabanlı yeni bir algoritma tanıtmaktadır. Performansı, 5 görev içeren 6-robotlu ve 10 görev içeren 11-robotlu senaryo için farklı enerji hasatlama yöntemleri altında incelenmiştir.

Anahtar Kelimeler

Çok robotlu sistemler, görev tahsisi, kablosuz ağlar, enerji toplanması

Multi-Robot Task Allocation in Robotic Wireless Sensor Networks in Smart Agricultural Applications

Öz

This paper studies an energy-aware multi-robot task-allocation (MRTA) problem in a robot network cluster with a base station and several clusters of robots in smart agricultural applications. Each round has M number of tasks and M+1 robots. A robot is elected cluster head and assigns one duty to each robot in that round. It gathers data from the remaining M robots and sends it to the BS. This work allocates M tasks to the remaining M robots optimally or near ideally by considering each node’s distance to travel, energy required for each task, battery level, and energy-harvesting capabilities. This paper introduces a new machine learning-based algorithm. Its performance is examined under different energy-harvesting methods for 6-robot for 5 tasks and 11-robot scenario for 10 tasks.

Anahtar Kelimeler

Multi-robot systems, task allocation, wireless networks, energy harvesting

Kaynakça

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