|( 39 of 7615 )|
|United States Patent||9,008,839|
|Kuffner, Jr. , et al.||April 14, 2015|
Methods and systems for allocating tasks to robotic devices are provided. An example method includes receiving information associated with task logs for a plurality of robotic devices and in a computing system configured to access a processor and memory, determining information associated with a health level for the plurality of robotic devices based on the information associated with the task logs. A health level for a given robotic device may be proportional to a current level of ability to perform a function, which may change over a lifespan of the given robotic device. Information associated with a plurality of tasks to be performed by one or more or the robotic devices may also be determined. According to the method, the computing system may optimize an allocation of the plurality of tasks such that a high precision task may be allocated to a robotic device having a greater current health level than another robotic device.
|Inventors:||Kuffner, Jr.; James J. (Mountain View, CA), Hickman; Ryan (Mountain View, CA)|
|Filed:||February 3, 2013|
|Application Number||Filing Date||Patent Number||Issue Date|
|61595872||Feb 7, 2012|
|Current U.S. Class:||700/248|
|Current CPC Class:||B25J 9/0084 (20130101); Y10S 901/01 (20130101); G05B 2219/40095 (20130101); G05B 2219/39117 (20130101)|
|Current International Class:||B25J 9/16 (20060101)|
|Field of Search:||;700/248|
|5615138||March 1997||Tanaka et al.|
|6374155||April 2002||Wallach et al.|
|6598174||July 2003||Parks et al.|
|7117067||October 2006||McLurkin et al.|
|7600593||October 2009||Filippov et al.|
|7920962||April 2011||D'Andrea et al.|
|8285417||October 2012||Kawaguchi et al.|
|8386078||February 2013||Hickman et al.|
|8428777||April 2013||Poursohi et al.|
|8548627||October 2013||Ulmer et al.|
|2009/0037655||February 2009||Cherian et al.|
|2009/0228669||September 2009||Slesarev et al.|
|2010/0145514||June 2010||Kim et al.|
Parker, Lynn, "Lifelong adaptation in heterogeneous multi-robot teams--response to continual variation in individual robot performance", Autonomous Robots 8, Copyright 2000 Kluwer Academic Publishers, pp. 239-267. cited by examiner .
Book, Wayne J. et al., "Master-slave manipulator performance for various dynamic characteristics and positioning task parameters", IEEE Transactions on Systems, Man, and Cybernetics, vol. SMC-10 No. 11, Nov. 1980, pp. 764ff. cited by examiner .
Chand, Praneel et al., "Task allocation and coordination for limited capability mobile robots", Proceedings of the Australasian Conference on Robotics and Automation, 2007, Brisbane, Australia, 10 pages. cited by examiner .
DeLoach, Scott, "OMACS: a Framework for Adaptive Complex Systems", Handbook of Research on Multi-Agent Systems: Semantics and Dynamics of Organizational Models, Chapter 4, Virginia Dignum ed., 2009, pp. 76-104. cited by examiner .
Gerkey, Brian Paul, "On multi-robot task allocation", CRES Technical Report CRES-03-012, U.S.C. Ph.D Dissertation, Aug. 2003, 126 pages. cited by examiner .
Restelli, Marcello et al., "An Architecture to Implement Adaptive Cooperative Strategies for Heterogeneous Agents", Proceedings of the Workshop on Cooperative Robotics, 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'02), Oct. 2002, 8 pages. cited by examiner .
Tsalatsanis, Athanasios et al., "Dynamic task allocation in cooperative robot teams", International Journal of Advanced Robotic Systems, vol. 6, No. 4, 2009, pp. 309-318. cited by examiner .
Vander Weide, Scott A., "Dynamic task allocation in mobile robot systems using utility functions", Univ. Central Florida Master's Thesis, 2008, 116 pages. cited by examiner .
Arumugan, Rajesh et al, DAvinCi: A Cloud Computing Framework for Service Robots, 2010 IEEE Conference on Robotics and Automation, Anchorage Convention District, Anchorage, Alaska, May 3-8, 2010. cited by applicant .
Park, Juyi et al, Toward Intelligent System Health Monitoring for NASA Robonaut, 4th IEEE/RAS International Conference on Humanoid Robotics, 2004. cited by applicant.