Neural networks-based adaptive bidding with the contract net protocol in multi-robot systems

  • Authors:
  • Jonathan A. Kensler;Arvin Agah

  • Affiliations:
  • Department of Electrical Engineering and Computer Science, University of Kansas, Lawrence, USA 66045-7621;Department of Electrical Engineering and Computer Science, University of Kansas, Lawrence, USA 66045-7621

  • Venue:
  • Applied Intelligence
  • Year:
  • 2009

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Abstract

This paper investigates the effectiveness of using the Contract Net Protocol, an auction type system, for controlling task allocation among a group of robots, and presents and evaluates a strategy of using Artificial Neural Networks to formulate adaptive bids within the framework of the Contract Net Protocol. The robots were used in a foraging environment and showed that excellent communication among robots leads to a need for a social control mechanism for managing the robots, such as the Contract Net Protocol. The experiments also confirmed that a moderate benefit can be gained by using adaptive bidding within the framework of the Contract Net Protocol.