Autonomous market-based multi-robot cooperation
Autonomous market-based multi-robot cooperation
复制标题
基于自主市场的多机器人协作
DOI：
10.1109/icias.2010.5716236
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发表时间：
2010
期刊：
影响因子：
--
通讯作者：
C W de Silva
中科院分区：
文献类型：
--
作者：
M Tahir Khan;T. Imanuel;C W de Silva
提出了一种基于经济市场原理的多机器人协作方法。所开发的方法依赖于一个基于市场的决策机制，其中包括拍卖的任务分配给机器人。任务可以由单个机器人执行，也可以与其他机器人合作执行，这取决于任务要求和可用的机器人资源。在目前的工作中，系统自主选择适当数量的有能力的机器人所需的任务，在一个未知的，动态的和不可预测的环境。系统通过选择最符合任务需求的候选机器人来高效地完成这一任务。该方案的可行性证明了通过实施市场驱动的方法对一组模拟的移动的机器人，运输多个对象到一个目标位置。
This paper presents an approach for multi-robot cooperation based on the principles of economic market. The developed approach relies on a market-based decision making mechanism, which includes auctioning for the assignment of a task to the robots. A task may be carried out either by a single robot or cooperatively with other robots, depending on the task requirements and the available robotic resources. In the present work, the system autonomously selects the appropriate number of capable robots as required for the task, in an unknown, dynamic and unpredictable environment. The system does this in an efficient manner by choosing the candidate robot that best matches the demand of the task. The feasibility of the scheme is demonstrated by implementing the market driven approach on a team of simulated mobile robots that transport multiple objects to a goal location.