M+: a scheme for multi-robot cooperation through negotiated task allocation and achievement

Botelho, Silvia Silva da Costa; Alami, Rachid

doi:10.1109/robot.1999.772530

Cited by 200 publications

(190 citation statements)

References 13 publications

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“…Auction-based CNP 1 , Norm-based CNP M+ protocol [28] In these approaches, each agent suggests a cost for undertaking work. The auctioneer reviews the suggestions and assigns the work in line with the best suggestion.…”

Section: Available Methods Descriptionmentioning

confidence: 99%

Developing an Agent-Based Simulation System for Post-Earthquake Operations in Uncertainty Conditions: A Proposed Method for Collaboration among Agents

Hooshangi

Alesheikh

2018

IJGI

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Agent-based modeling is a promising approach for developing simulation tools for natural hazards in different areas, such as during urban search and rescue (USAR) operations. The present study aimed to develop a dynamic agent-based simulation model in post-earthquake USAR operations using geospatial information system and multi agent systems (GIS and MASs, respectively). We also propose an approach for dynamic task allocation and establishing collaboration among agents based on contract net protocol (CNP) and interval-based Technique for Order of Preference by Similarity to Ideal Solution (TOPSIS) methods, which consider uncertainty in natural hazards information during agents' decision-making. The decision-making weights were calculated by analytic hierarchy process (AHP). In order to implement the system, earthquake environment was simulated and the damage of the buildings and a number of injuries were calculated in Tehran's District 3: 23%, 37%, 24% and 16% of buildings were in slight, moderate, extensive and completely vulnerable classes, respectively. The number of injured persons was calculated to be 17,238. Numerical results in 27 scenarios showed that the proposed method is more accurate than the CNP method in the terms of USAR operational time (at least 13% decrease) and the number of human fatalities (at least 9% decrease). In interval uncertainty analysis of our proposed simulated system, the lower and upper bounds of uncertain responses are evaluated. The overall results showed that considering uncertainty in task allocation can be a highly advantageous in the disaster environment. Such systems can be used to manage and prepare for natural hazards.

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Section: Available Methods Descriptionmentioning

confidence: 99%

Developing an Agent-Based Simulation System for Post-Earthquake Operations in Uncertainty Conditions: A Proposed Method for Collaboration among Agents

Hooshangi

Alesheikh

2018

IJGI

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“…Marketbased (Dias & Stentz, 2003) and auction (Gerkey & Mataric, 2002) techniques are commonly used in this class of problems. One of the most popular protocols for task assignment is the Contract Net (Smith, 1980), and many algorithms (Botelho & Alami, 1999;Dias & Stentz, 2003;Gerkey & Mataric, 2002;Golfarelli, Maio, & Rizzi, 1997;Stentz & Dias, 1999) have been proposed based on this protocol. In all market and auction-based approaches, each robot has cost and revenue functions that are used to compute the expected gains and losses for performing (sub)tasks.…”

Section: Related Work In Task Subdivision and Allocationmentioning

confidence: 99%

Aerial remote sensing in agriculture: A practical approach to area coverage and path planning for fleets of mini aerial robots

Barrientos

Colorado

Cerro

et al. 2011

Journal of Field Robotics

257

198

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In this paper, a system that allows applying precision agriculture techniques is described. The application is based on the deployment of a team of unmanned aerial vehicles that are able to take georeferenced pictures in order to create a full map by applying mosaicking procedures for postprocessing. The main contribution of this work is practical experimentation with an integrated tool. Contributions in different fields are also reported. Among them is a new one-phase automatic task partitioning manager, which is based on negotiation among the aerial vehicles, considering their state and capabilities. Once the individual tasks are assigned, an optimal path planning algorithm is in charge of determining the best path for each vehicle to follow. Also, a robust flight control based on the use of a control law that improves the maneuverability of the quadrotors has been designed. A set of field tests was performed in order to analyze all the capabilities of the system, from task negotiations to final performance. These experiments also allowed testing control robustness under different weather conditions. C 2011 Wiley Periodicals, Inc.

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“…For every task there exists a behavior capable of executing the task and estimating the utility of robot executing the task. Auction-based approaches include the M+ system [14] and Murdoch [15]. Both systems rely on the Contract Net Protocol (CNP) that makes tasks available for auction, and candidate robots make 'bids' that are their task-specific utility estimates.…”

Section: Related Workmentioning

confidence: 99%

Using a sensor network for distributed multi-robot task allocation

Batalin

Sukhatme

2004

IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004

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Abstract-We present a Multi Field Distributed In-network Task Allocation (DINTA-MF) algorithm for online multi-robot task allocation (OMRTA) where tasks are allocated explicitly to robots by a pre-deployed, static sensor network. The idea of DINTA-MF is to compute several assignment fields in the sensor network and then distributively assign fields to different robots. Experimental results with a simulated alarm scenario show that our approach is able to compute solutions to the OMRTA problem in a distributed fashion and arguably in an optimal way. We compared DINTA-MF with a simpler implementation (DINTA) which uses one assignment field. The data show that DINTA-MF outperforms DINTA as the number of robots increases.

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M+: a scheme for multi-robot cooperation through negotiated task allocation and achievement

Cited by 200 publications

References 13 publications

Developing an Agent-Based Simulation System for Post-Earthquake Operations in Uncertainty Conditions: A Proposed Method for Collaboration among Agents

Developing an Agent-Based Simulation System for Post-Earthquake Operations in Uncertainty Conditions: A Proposed Method for Collaboration among Agents

Aerial remote sensing in agriculture: A practical approach to area coverage and path planning for fleets of mini aerial robots

Using a sensor network for distributed multi-robot task allocation

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