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·120· 智能系统学报 第3卷 gent Robots and Systems.Las Vegas,Nevada,2003: H.Coordination and control of multiple uavs with tim- 1957-1962. ing constraints and loitering[C]//The American Con- [16]DIAS M B.TraderBots:a new paradigm for robust and trol Conference.Denver,Colorado,2003:5311-5316. efficient multirobot coordination in dynamic environ- [28]A TA Y N,BA YAZIT B.Mixed-integer linear program- ments [D].Pittsburgh:Carnegie Mellon University, ming solution to multi-robot task allocation problem, 2004. WUCSE 54[R].Dept of Computer Science and Engi- [17]BOTEL HO S,ALAMI R.M+:a scheme for multi-ro- neering,Washington University in St Louis,2006. bot cooperation through negotiated task allocation and [29]ATA Y N,BA YAZIT B.Emergent task allocation for achievement [C]//Proc IEEE Int Conf Robot Automat. mobile robots through intentions and directives, Detroit,USA,1999:12341239. 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[25 ]BELL IN GHAM J , TIL ERSON M , RICHARDS A , et al. Multi2task allocation and path planning for coopera2 ting uavs [ C ]/ / Conference on Coordination , Control and Optimization. Gainesville ,USA ,2001 :1219. [26 ]SCHUMACHER C , CHANDLR P , PACH TER M , et al. Uav task assignment with timing constraints[ C]/ / AIAA Guidance , Navigation , and Conference and Ex2 hibit. Arlington , Texas , 2003. [27 ]AL IGHANBARI M , KUWA TA Y, JONA THAN J H. Coordination and control of multiple uavs with tim2 ing constraints and loitering[ C]/ / The American Con2 trol Conference. Denver ,Colorado ,2003 :531125316. [28 ]A TA Y N , BA YAZIT B. Mixed2integer linear program2 ming solution to multi2robot task allocation problem , WUCSE 54[ R]. Dept of Computer Science and Engi2 neering , Washington University in St Louis , 2006. [29 ]A TA Y N , BA YAZIT B. Emergent task allocation for mobile robots through intentions and directives , WUCSE 2[ R]. Washington : Washington University in St Louis , 2007. [30 ] GA GE A , MURPH Y R , VALAVANIS K P , LON G M. Affective task allocation for distributed multi2robot teams , CRASAR2TR 26 [ R]. Center for Robot Assis2 ted Search & Rescue , 2004. [ 31 ]DA HL T S , MA TARIC M , SU KHA TME G S. Multi2 robot task2allocation through vacancy chains[C]/ / Pro2 ceedings of IEEE International Conference on Robotics and Automation. [ S. l. ]. 2003 : 229322298. [32 ]祖丽楠 ,田彦涛 ,梅 昊. 大规模多移动机器人合作任务 的分布自主协作系统 [J ]. 机器人 , 2006 , 28 (5) : 4702 477. ZU Linan , TIAN Yantao , MEI Hao. Distributed au2 tonomous cooperation system for the large2scale cooper2 ation task of multiple mobile robots[J ]. Robot , 2006 , 28 (5) :4702477. [33 ]柳 林 ,季秀才 ,郑志强. 基于市场法及能力分类的多机 器人任务分配方法[J ]. 机器人 ,2006 ,28 (3) :3382343. L IU Lin , J I Xiucai , ZHEN G Zhiqiang. Multi2robot task allocation based on market and capability classifica2 tion[J ]. Robot , 2006 , 28 (3) :3382343. 作者简介 : 张 嵛 ,女 ,1983 生 ,硕士研究生 ,主 要研究方向为多移动机器人. 刘淑华 ,女 ,1970 生 ,副教授 ,博士 ,主 要研究方向为多移动机器人、智能规划. ·120 · 智 能 系 统 学 报 第 3 卷
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