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    Row Allocation Negotiation for a Fleet of Strawberry Harvesting Robots

    Source: ASME Letters in Dynamic Systems and Control:;2022:;volume( 002 ):;issue: 003::page 31007
    Author:
    Mapes, Madeline;Xu, Yunjun
    DOI: 10.1115/1.4054644
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: Cooperative small harvesting robots, mimicking a group of human pickers, have the potential to significantly reduce labor dependence in strawberry production. A tri-layered algorithm is investigated to effectively assign rows to robots with each robot incentivized to maximize its total number of picked strawberries within the fleet’s harvesting time. The proposed algorithm consists of a decentralized local auction and negotiation strategy as the primary phase with a centralized fallback algorithm that guarantees an assignment. The salient features of the algorithm are reduced communication time, scalability, constant time complexity in the decentralized phase, and ease of implementation. The proposed algorithm is evaluated in a Monte Carlo simulation and the superior performance (e.g., significantly reduced computational time) is observed when compared with a centralized approach. It is expected that this row negotiation algorithm can address an important gap in strawberry harvesting via cooperative, small harvesting robots.
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      Row Allocation Negotiation for a Fleet of Strawberry Harvesting Robots

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    contributor authorMapes, Madeline;Xu, Yunjun
    date accessioned2022-12-27T23:16:01Z
    date available2022-12-27T23:16:01Z
    date copyright6/10/2022 12:00:00 AM
    date issued2022
    identifier issn2689-6117
    identifier otheraldsc_2_3_031007.pdf
    identifier urihttp://yetl.yabesh.ir/yetl1/handle/yetl/4288251
    description abstractCooperative small harvesting robots, mimicking a group of human pickers, have the potential to significantly reduce labor dependence in strawberry production. A tri-layered algorithm is investigated to effectively assign rows to robots with each robot incentivized to maximize its total number of picked strawberries within the fleet’s harvesting time. The proposed algorithm consists of a decentralized local auction and negotiation strategy as the primary phase with a centralized fallback algorithm that guarantees an assignment. The salient features of the algorithm are reduced communication time, scalability, constant time complexity in the decentralized phase, and ease of implementation. The proposed algorithm is evaluated in a Monte Carlo simulation and the superior performance (e.g., significantly reduced computational time) is observed when compared with a centralized approach. It is expected that this row negotiation algorithm can address an important gap in strawberry harvesting via cooperative, small harvesting robots.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleRow Allocation Negotiation for a Fleet of Strawberry Harvesting Robots
    typeJournal Paper
    journal volume2
    journal issue3
    journal titleASME Letters in Dynamic Systems and Control
    identifier doi10.1115/1.4054644
    journal fristpage31007
    journal lastpage31007_7
    page7
    treeASME Letters in Dynamic Systems and Control:;2022:;volume( 002 ):;issue: 003
    contenttypeFulltext
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    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
    yabeshDSpacePersian