Multi-robot Cooperative Pursuit Based on Task Bundle Auctions

Authors:
Ze-Su Cai;Li-Ning Sun;Hai-Bo Gao;Pu-Cheng Zhou;Song-Hao Piao;Qing-Cheng Huang
Affiliations:
State Key Laboratory Robotics and System, Harbin Institute of Technology, Harbin, China 150001 and School of Computer Science and Technology, Harbin Institute of Technology, Harbin, China 150001;State Key Laboratory Robotics and System, Harbin Institute of Technology, Harbin, China 150001;State Key Laboratory Robotics and System, Harbin Institute of Technology, Harbin, China 150001;Department of Information Engineering, Artillery Academy of PLA, Hefei, China 230031;State Key Laboratory Robotics and System, Harbin Institute of Technology, Harbin, China 150001 and School of Computer Science and Technology, Harbin Institute of Technology, Harbin, China 150001;State Key Laboratory Robotics and System, Harbin Institute of Technology, Harbin, China 150001 and School of Computer Science and Technology, Harbin Institute of Technology, Harbin, China 150001
Venue:
ICIRA '08 Proceedings of the First International Conference on Intelligent Robotics and Applications: Part I
Year:
2008

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Abstract

This paper mainly discusses the pursuit-evasion games, in which a team of autonomous mobile robots act as pursuers to pursue multiple moving targets cooperatively. In order to reduce the communication load during the task negotiation process, the auction mechanism in Economics was introduced, and an improved task negotiation process based on Task Bundle Auction was proposed. It allocated task dynamically through Dynamic coalition formation of multiple robots. In this paper, we propose the three possible coalition objectives and three different matrics of a multi-robot exploration and pursuit-evader. Based on these extensions, a kind of multi-robot cooperative pursuit algorithm that allows fault injection dynamic alliance is proposed. Simulation results show the feasibility and validity of the given algorithm.