Lazy auctions for multi-robot collision avoidance and motion control under uncertainty

Authors:
Jan-P. Calliess;Daniel Lyons;Uwe D. Hanebeck
Affiliations:
Dept. of Engineering Science, University of Oxford, UK;Intelligent Sensor-Actuator-Systems Lab, Karlsruhe Institute of Technology, Karlsruhe, Germany;Intelligent Sensor-Actuator-Systems Lab, Karlsruhe Institute of Technology, Karlsruhe, Germany
Venue:
AAMAS'11 Proceedings of the 10th international conference on Advanced Agent Technology
Year:
2011

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Abstract

We present an auction-flavored multi-robot planning mechanism where coordination is to be achieved on the occupation of atomic resources modeled as binary inter-robot constraints. Introducing virtual obstacles, we show how this approach can be combined with particle-based obstacle avoidance methods, offering a decentralized, auction-based alternative to previously established centralized approaches for multi-robot open-loop control. We illustrate the effectiveness of our new approach by presenting simulations of typical spatially-continuous multi-robot path-planning problems and derive bounds on the collision probability in the presence of uncertainty.