Improved Trade-based Multi-robot Coordination
Team work is essential to multiple mobile robot systems. An important question is, which robot should implement which action? In our previous work, we presented a trade-based task allocation approach for coordinated multi-robot exploration, which simulates the relationship between buyers and sellers in a business system, to achieve dynamic task allocation by using a mechanism of unsolicited bid. This paper still addresses the problem of coordinating multirobot exploration while presents an improved tradebased approach to raise the efficiency of task allocation by using the Hungarian method. The proposed approach has been implemented and evaluated in simulation. The experimental results demonstrate the total exploration time can be significantly reduced by the improved trade-based approach compared to previous approaches.
coordinated exploration decentralized decision making multi-robot systems
Nicolas Jouandeau Zhi Yan
Advanced Computing Laboratory oi Saint-Denis (LIASD) Paris 8 University 93526 Saint-Denis, France Advanced Computing Laboratory of Saint-Denis (LIASD) Paris 8 University 93526 Saint-Denis, France
国际会议
重庆
英文
500-503
2011-08-20（万方平台首次上网日期，不代表论文的发表时间）