Sold!: auction methods for multirobot coordination

B.P. Gerkey, M.J. Mataric
<span title="">2002</span> <i title="Institute of Electrical and Electronics Engineers (IEEE)"> <a target="_blank" rel="noopener" href="" style="color: black;">IEEE Transactions on Robotics and Automation</a> </i> &nbsp;
The key to utilizing the potential of multirobot systems is cooperation. How can we achieve cooperation in systems composed of failure-prone autonomous robots operating in noisy, dynamic environments? In this paper, we present a novel method of dynamic task allocation for groups of such robots. We implemented and tested an auction-based task allocation system which we call MURDOCH, built upon a principled, resource centric, publish/subscribe communication model. A variant of the Contract Net
more &raquo; ... tocol, MURDOCH produces a distributed approximation to a global optimum of resource usage. We validated MURDOCH in two very different domains: a tightly coupled multirobot physical manipulation task and a loosely coupled multirobot experiment in long-term autonomy. The primary contribution of this paper is to show empirically that distributed negotiation mechanisms such as MURDOCH are viable and effective for coordinating physical multirobot systems.
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="">doi:10.1109/tra.2002.803462</a> <a target="_blank" rel="external noopener" href="">fatcat:pomwygzzcvd6pnm3r64kyz6nra</a> </span>
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