Market-Based Multirobot Coordination: A Comprehensive Survey and Analysis
Market-Based Multirobot Coordination: A Comprehensive Survey and Analysis
复制标题
基于市场的多机器人协调：综合调查与分析
DOI：
10.21236/ada529008
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发表时间：
2005
期刊：
影响因子：
--
通讯作者：
A. Stentz
中科院分区：
文献类型：
--
作者：
N. Kalra;R. Zlot;M. Dias;A. Stentz
摘要：随着机器人技术的进步，我们让机器人承担越来越多样化和困难的任务。其中许多任务通过机器人团队合作可能比单个机器人单独工作更好地完成。协调可以加快任务完成速度、增强稳健性、提供更高质量的解决方案以及完成单个机器人无法完成的任务。然而，由于一系列不利的现实条件，包括动态事件、不断变化的任务需求、资源故障和有限的审议时间，有效的协调可能很难实现。克服这些挑战并利用机器人团队的优势的愿望使得多机器人协调成为机器人研究的重要领域。在由此产生的大量研究中，基于市场的多机器人协调方法尤其受到了极大的关注，并且在社区中越来越受欢迎。这些方法利用了市场经济的原则——几千年来市场经济已经成功地控制了人类的协调——并利用它们来实现机器人的协调。在基于市场的方法中，团队中的机器人充当在虚拟经济中运行的自利代理人，在虚拟经济中，任务和团队资源在市场上交换以追求个人利润。市场化方法的本质是，机器人之间相互交易任务和资源以实现财富最大化的过程同时提高了团队的效率。基于市场的多机器人协调方法继承了与市场经济相关的许多好处，包括灵活性、效率、响应能力、鲁棒性、可扩展性和通用性。在实践中，它们已成功应用于从测绘和探索到机器人足球等各个领域。
Abstract : As robotic technology improves, we charge robots with increasingly varied and difficult tasks. Many of these tasks can potentially be completed better by a team of robots working together than by individual robots working alone. Coordination can lead to faster task completion, increased robustness, higher-quality solutions, and the completion of tasks impossible for single robots. Nevertheless, effective coordination can be difficult to achieve because of a range of adverse real-world conditions including dynamic events, changing task demands, resource failures, and limited deliberation time. The desire to overcome these challenges and harness the benefits of robot teams has made multirobot coordination a vital field in robotics research. Of the resulting wealth of research, market-based multirobot coordination approaches in particular have received significant attention and are growing in popularity within the community. These approaches harness the principles of market economies?which have successfully governed human coordination for thousands of years?and use them to enable robot coordination. In market-based approaches, robots on the team act as self-interested agents operating in a virtual economy in which tasks and team resources are exchanged over the market in pursuit of individual profit. The essence of market-based approaches is that the process of robots trading tasks and resources with one another to maximize their wealth simultaneously improves the efficiency of the team. Market-based approaches to multirobot coordination inherit many of the benefits associated with market economies, including flexibility, efficiency, responsiveness, robustness scalability, and generality. In practice, they have been successfully implemented in a variety of domains ranging from mapping and exploration to robot soccer.