International Journal of Advanced Robotic Systems | |
Simultaneous Task Subdivision and Allocation Using Negotiations in Multi-Robot 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
【 预 览 】
Files | Size | Format | View |
---|---|---|---|
RO201904037580762ZK.pdf | 6322KB | download |