Allocating sensor resources to multiple behaviors

This paper presents an algorithm for allocating sensing resources for an autonomous mobile robot with logically redundant sensing capabilities. The algorithm creates a partial plan based on the set of requests by behaviors. If two or more behaviors place conflicting requests, a variant of the MIN-CONFLICT algorithm is used to find a replacement logical sensor. Unlike traditional MIN-CONFLICT, our variant maximizes each behavior's preference for a particular sensor ("happiness"). Simulations compared MIN-CONFLICT with Happiness to other methods (random and greedy assignment) for 10 sequences of 20 random requests for 8 sensors from up to 11 concurrent behaviors. Results showed that it is able to generate more schedules (on the order of 71% to 155% more) and that a further variant could maximize happiness better (7% to 30%).

Authors

• Aaron Gage
• Robin R. Murphy

Keywords

• Resource management
• Robot sensing systems
• Mobile robots
• Scheduling algorithm
• Sensor phenomena and characterization
• Computer science
• Navigation
• Feature extraction
• Computer architecture
• Software agents
• Mobile Robot
• Automated Guided Vehicles
• Heuristic
• Actual Behavior
• Behavioral Performance
• Microphone
• Set Of Behaviors
• Behavioral Reactions
• Dead End
• Levels Of Happiness
• Flexible Sensors
• Laser Ranging
• Greedy Approach
• Constraint Satisfaction Problem
• Error Handling
• List Of Behaviors
• Local Repair
• Higher Happiness