Robot to Robot

This article proposes auction aggregation protocols (AAPs) for task assignment in multihop wireless robot networks. A robot collector leads an auction and initiates a response tree construction by transmitting the search message. After receiving the message, each robot makes a decision on whether to retransmit a search message, based on the estimated response cost of its robots, up to fe-hops away. Robots wait to receive the bids from its children in the search tree. Then, robots aggregate responses by selecting the best bid and forward it back toward the robot collector (auctioning robot). When distance is used as the sole cost metrics, the traversal aggregation algorithm [routing with face traversal (RFT)-routing toward the event with the traversal of the face containing the event] can be applied and is an optimal solution. Several other protocols and their enhancements are also described here.