Row Allocation Negotiation for a Fleet of Strawberry Harvesting RobotsSource: ASME Letters in Dynamic Systems and Control:;2022:;volume( 002 ):;issue: 003::page 31007Author:Mapes, Madeline;Xu, Yunjun
DOI: 10.1115/1.4054644Publisher: 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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contributor author | Mapes, Madeline;Xu, Yunjun | |
date accessioned | 2022-12-27T23:16:01Z | |
date available | 2022-12-27T23:16:01Z | |
date copyright | 6/10/2022 12:00:00 AM | |
date issued | 2022 | |
identifier issn | 2689-6117 | |
identifier other | aldsc_2_3_031007.pdf | |
identifier uri | http://yetl.yabesh.ir/yetl1/handle/yetl/4288251 | |
description 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. | |
publisher | The American Society of Mechanical Engineers (ASME) | |
title | Row Allocation Negotiation for a Fleet of Strawberry Harvesting Robots | |
type | Journal Paper | |
journal volume | 2 | |
journal issue | 3 | |
journal title | ASME Letters in Dynamic Systems and Control | |
identifier doi | 10.1115/1.4054644 | |
journal fristpage | 31007 | |
journal lastpage | 31007_7 | |
page | 7 | |
tree | ASME Letters in Dynamic Systems and Control:;2022:;volume( 002 ):;issue: 003 | |
contenttype | Fulltext |