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Sold!: auction methods for multirobot coordination
Abstract
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? We present a 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 Protocol, 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 the paper is to show empirically that distributed negotiation mechanisms such as MURDOCH are viable and effective for coordinating physical multirobot systems.
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Cites
A robust layered control system for a mobile robot
Brooks, R. (1986) · IEEE Journal on Robotics and Automation · doi:10.1109/jra.1986.1087032 · Cited by 7,799 · cited 1×
“A similar but more minimalist approach to robot task allocation is taken by BLE [21], a modern distributed derivative of the Subsumption Architecture [22] that has been demonstrated on a weighted version of the CMOMMT target-tracking task.”
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Cited by
Automated guided vehicle systems, state-of-the-art control algorithms and techniques
De Ryck, M., Versteyhe, M., & Debrouwere, F. (2020) · Journal of Manufacturing Systems · doi:10.1016/j.jmsy.2019.12.002 · Cited by 380
Agassounon, W., Martinoli, A., & Easton, K. (2004) · Autonomous Robots · doi:10.1023/b:auro.0000033971.75494.c8 · Cited by 60
Integrating Decentralized Coordination and Reactivity in MAS for Repair-Task Allocations
Hayashi, H. (2017) · Lecture Notes in Computer Science · doi:10.1007/978-3-319-59930-4_8 · Cited by 7
Metadata
- Authors
- Gerkey, B. P., & Mataric, M. J.
- Venue
- IEEE Transactions on Robotics and Automation
- Published
- 2002-10
- Volume
- 18
- Issue
- 5
- Pages
- 758-768
- ISSN
- 1042-296X (ISSN-L)
- OpenAlex
- W2113257089
- Cited by
- 1,012
- References
- 1
- FWCI
- 33.46
- Type
- journal article
- Language
- en
- Open access
- closed
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- Gerkey, B. P., & Mataric, M. J. (2002). Sold!: auction methods for multirobot coordination. IEEE Transactions on Robotics and Automation. https://doi.org/10.1109/tra.2002.803462
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