M+: a scheme for multi-robot cooperation through negotiated task allocation and achievement

Author

Botelho, S.C. ; Alami, R.

Author_Institution

LAAS-CNRS, Toulouse, France

Volume

2

fYear

1999

fDate

1999

Firstpage

1234

Abstract

We present and discuss a distributed scheme for multi-robot cooperation. It integrates mission planning and task refinement as well as cooperative mechanisms adapted from the contract net protocol framework. We discuss its role and how it can be integrated as a component of a complete robot control system. We also discuss how it handles distributed task allocation and achievement as well as cooperative reaction to contingencies. Finally, we illustrate its use through a simulated system, which allows a number of robots to perform load transfer tasks in a route network environment

Keywords

cooperative systems; decentralised control; mobile robots; multi-robot systems; planning (artificial intelligence); resource allocation; M+; contingencies; contract net protocol framework; cooperative mechanisms; distributed scheme; distributed task allocation; load transfer tasks; mission planning; multi-robot cooperation; negotiated task achievement; negotiated task allocation; route network environment; task refinement; Capacity planning; Contracts; Costs; Lapping; Multirobot systems; Navigation; Protocols; Refining; Robot sensing systems; Sensor systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on

Conference_Location

Detroit, MI

ISSN

1050-4729

Print_ISBN

0-7803-5180-0

Type

conf

DOI

10.1109/ROBOT.1999.772530

Filename

772530