日常养老情境的异构多机器人动态多任务分配

李勇,柳富强,孙柏青,张秋豪,杨俊友

Dynamic multi-task allocation of heterogeneous multi-robots for daily elderly care scenarios

Yong LI,Fu-qiang LIU,Bai-qing SUN,Qiu-hao ZHANG,Jun-you YANG

表 2 执行智能体对各子任务的投标值

Tab.2 Bidding value of executing agent for each subtask

子任务标号 $ {b}_{i,j} $ AR1 AR2 WR1 WR2 T1_1 0.087 0 (7.074×10−5) 0.112 0 (0.073) 0(0) 0(0) T1_2 0(0) 0(0) 0.054 (3.002×10−5) 0.056 0 (0.602) T1_3 0.0006 (6.833×10−5) 0.0005 (−1.261) 0(0) 0(0) T2_1 0.0001 (8.187×10−5) 0.018 0 (0.012) 0(0) 0(0) T2_2 0(0) 0(0) 0.010 (3.680×10−5) 0.0004 (3.679×10−5) T2_3 0.0002 (7.947×10−4) 0.0006 (−1.214) 0(0) 0(0)