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Simultaneous task subdivision and allocation using negotiations in multi-robot systems

AutorRossi, Claudio ; Aldama, Leyre; Barrientos, Antonio
Palabras claveBargaining
Multi-robot systems
Robot cooperation
Task partition and allocation
Negotiations
Fecha de publicación2015
EditorInTech
CitaciónClaudio Rossi, Leyre Aldama and Antonio Barrientos. Simultaneous Task Subdivision and Allocation using Negotiations in Multi-Robot Systems. Int J Adv Robot Syst, 2015, 12:16. doi: 10.5772/59880
Resumen© 2015 The Author(s). Licensee InTech. 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.
Versión del editor10.5772/59880
URI10261/129918
DOI10.5772/59880
ISSN1729-8806
E-ISSN1729-8814
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