Simultaneous task subdivision and allocation for teams of heterogeneous robots

Authors:
Claudio Rossi;Leyre Aldama;Antonio Barrientos
Affiliations:
Robotics and Cybernetics Research Group, Universidad Politécnica de Madrid, Madrid, Spain;Robotics and Cybernetics Research Group, Universidad Politécnica de Madrid, Madrid, Spain;Robotics and Cybernetics Research Group, Universidad Politécnica de Madrid, Madrid, Spain
Venue:
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Year:
2009

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Abstract

In this paper, we present a negotiation protocol for simultaneous task subdivision and allocation for heterogeneous multi-robot systems. An abstraction of the concept of task is presented that allows to apply the protocol on a variety of tasks. The negotiation adopts Rubinstein's alternate offers protocol, where offers are evaluated and generated using a heuristic search step. The protocol has been tested on computer simulations.