A Free Market Architecture for Distributed Control of a Multirobot System
A Free Market Architecture for Distributed Control of a Multirobot System
复制标题
多机器人系统分布式控制的自由市场架构
DOI：
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发表时间：
2000
期刊：
影响因子：
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通讯作者：
A. Stentz
中科院分区：
文献类型：
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作者：
M. Dias;A. Stentz
大群机器人协调完成特定任务是一个难题。集中式方法在计算上可能是难以处理的，脆弱的，并且对变化反应迟钝。分布式方法不容易出现这些问题，但它们可能是高度次优的。这项工作介绍了一种新的经济方法协调机器人的基础上自由市场体系。自由市场方法在执行特定任务的可能计划中定义收入和成本函数。该任务是通过将其划分为子任务并允许机器人投标和谈判来完成这些子任务。当机器人在执行任务的同时试图最大化他们的个人利益时，合作和竞争就会出现。初步的仿真结果表明，该方法是成功的，在生产有效的全球计划的几个机器人执行内部传感任务的团队。
The coordination of a large group of robots to solve a specified task is a difficult problem. Centralized approaches can be computationally intractable, brittle, and unresponsive to change. Distributed approaches are not as prone to these problems, but they can be highly sub-optimal. This work introduces a novel economic approach for coordinating robots based on the free market system. The free market approach defines revenue and cost functions across the possible plans for executing a specified task. The task is accomplished by dividing it into sub-tasks and allowing the robots to bid and negotiate to carry out these sub-tasks. Cooperation and competition emerge as the robots execute the task while trying to maximize their personal profits. Initial simulation results indicate the approach is successful at producing effective global plans for a team of several robots performing an interior sensing task.