Dynamic Robot-Target Assignment — Dependence of Recovering from Breakdowns on the Speed of the Selection Process

  • Tomoyuki Kaga
  • Jens Starke
  • Péter Molnár
  • Michael Schanz
  • Toshio Fukuda


The self-organized and fault tolerant behavior of a novel control method for the dynamic assignment of robots to targets using an approach proposed by Starke and Molnar is investigated in detail. Concerning the robot-target assignments the method shows an excellent error resistivity and robustness by using only the local information of each robot. Experimental results verify the dynamic assignment of the mobile robots to the targets and the capability to cope with sudden changes like a breakdown of one of the robots. The dependence of the assignment on the speed of the target-selection dynamics is shown by both experiments and numerical simulations. The results suggest the existence of an optimal value for the speed of the target-selection dynamics.


Mobile Robot Automatic Guide Vehicle Autonomous Mobile Robot Destination Direction Dynamic Assignment 
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Copyright information

© Springer-Verlag Tokyo 2000

Authors and Affiliations

  • Tomoyuki Kaga
    • 1
  • Jens Starke
    • 2
  • Péter Molnár
    • 3
  • Michael Schanz
    • 4
  • Toshio Fukuda
    • 5
  1. 1.Graduate School of EngineeringNagoya UniversityJapan
  2. 2.Institute of Applied MathematicsUniversity of HeidelbergGermany
  3. 3.Center for Theoretical Studies of Physical SystemsClark Atlanta UniversityUSA
  4. 4.Institute of Parallel and Distributed High Performance SystemsUniversity of StuttgartGermany
  5. 5.Center for Cooperative Research in Advanced Science and TechnologyNagoya UniversityJapan

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