Negotiation of target points for teams of heterogeneous robots: an application to exploration

Authors:
Claudio Rossi;Leyre Aldama;Antonio Barrientos;Alberto Valero;Carlos Cruz
Affiliations:
Universidad Politécnica de Madrid, Madrid, Spain;Universidad Politécnica de Madrid, Madrid, Spain;Universidad Politécnica de Madrid, Madrid, Spain;Universidad Politécnica de Madrid, Madrid, Spain;Universidad Politécnica de Madrid, Madrid, Spain
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

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Abstract

In this paper, we present an application to Search and Rescue of a task negotiation protocol for teams of heterogeneous robots. Self-organization through autonomous negotiations allow the robots to assign themselves a number of target observation points decided by the operator, who is relieved from deciding the optimal assignment. The operator can then focus on monitoring the mission and deciding next actions. The protocol has been tested on both computer simulations and real robots.