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This paper describes a decentralized approach to control the execution of a set of tasks for a network of heterogeneous robotic agents, i.e., agents with different sets of sensors and actuators. The proposed approach is based on a discrete-event modeling and control framework. The novelty is the full decoupling between the tasks modeling and their deployment. This implies an higher robustness to faults...
In this paper a novel decentralized approach for task sequencing within a multiple missions control framework is presented. The main contribution of this work concerns the decentralization of a control framework for multiple mission execution in order to enhance the robustness of the system, and the application of the latter to a heterogeneous robotic network. The proposed approach is based on the...
This paper considers the problem of decentralized task assignment in a network of heterogeneous robots. We introduce a new algorithm named heterogeneous robots consensus-based allocation (HRCA), which can be viewed as a possible extension of the recently proposed consensus-based bundle algorithm (CBBA) for homogeneous robot networks. The HRCA is based on a two stage decentralized procedure. In the...
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