Simultaneous Task Subdivision and Allocation Using Negotiations in Multi-Robot Systems:

International Journal of Advanced Robotic Systems

ClaudioRossi¹ 

关键词: Multi-robot systems;    Robot cooperation;    Negotiations;    Bargaining;    Task partition;    allocation;   

DOI  :  10.5772/59880

学科分类：自动化工程

来源: InTech

【 摘 要 】

This paper presents a negotiations-based approach for simultaneous task subdivision and assignment in heterogeneous multi-robot systems. We first propose an abstraction of the concept of a task that allows for the generalizing of a variety of different problems. Based on such an abstraction, we have developed a negotiation protocol based on Rubinstein's alternate offers protocol. This is extended to the multi-dimensional space and employs a heuristic search step for evaluating and generating offers. Furthermore, the issue of how to extend a bilateral negotiations protocol to more than two parties is taken into consideration. The protocol was first tested in numerical simulations with different scenarios and then applied to three real-world missions.

【 授权许可】

CC BY