Risk and efficiency: a distributed bidding algorithm for multi-robot coordination

This paper proposes a totally distributed bidding model for a typical multi-robot application, the exploration of unknown environment. Based on this bidding model, the robot safety concept is introduced. Its impact on the behavior and the efficiency of a multi-robot team is investigated. The algorithm aims to maximize the exploration efficiency and reduce the risk of the exploration. We also investigate the exploration efficiency by assigning different risk tolerances to each individual robot. The safety concept can be extended to model other constraints in multi-robot missions. Simulation results demonstrate the effectiveness of the algorithm.