Title :
Simultaneous task subdivision and allocation for teams of heterogeneous robots
Author :
Rossi, Claudio ; Aldama, Leyre ; Barrientos, Antonio
Author_Institution :
Robot. & Cybern. Res. Group, Univ. Politec. de Madrid, Madrid, Spain
Abstract :
In this paper, we present a negotiation protocol for simultaneous task subdivision and allocation for heterogeneous multi-robot systems. An abstraction of the concept of task is presented that allows to apply the protocol on a variety of tasks. The negotiation adopts Rubinstein´s alternate offers protocol, where offers are evaluated and generated using a heuristic search step. The protocol has been tested on computer simulations.
Keywords :
multi-robot systems; heterogeneous robot; heuristic search; multi-robot system; negotiation protocol; simultaneous task subdivision; Application software; Computer simulation; Costs; Cybernetics; Game theory; Multirobot systems; Protocols; Robot kinematics; Robotics and automation; Testing;
Conference_Titel :
Robotics and Automation, 2009. ICRA '09. IEEE International Conference on
Conference_Location :
Kobe
Print_ISBN :
978-1-4244-2788-8
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2009.5152299
