Authors:
Zhi Yan
;
Nicolas Jouandeau
and
Arab Ali Cherif
Affiliation:
Paris 8 University, France
Keyword(s):
Coordinated exploration, Decentralized decision making, Multi-robot systems.
Related
Ontology
Subjects/Areas/Topics:
Distributed Control Systems
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Mobile Robots and Autonomous Systems
;
Robotics and Automation
Abstract:
This paper addresses the problem of exploring an unknown environment by a coordinated team of robots. An important question is, which robot should explore which region? In this paper, we present a novel decentralized task allocation approach based on trading rules for multi-robot exploration. In the decentralized system, robots can make their own decisions according to the local information with limited communication. In contrast to previous approaches, our trade-based approach is designed to simulate the relationship between buyers and sellers in a business system, to achieve dynamic task allocation by using a mechanism of unsolicited bid. Our approach has been implemented and evaluated in simulation. The experimental results demonstrate a good performance of the proposed trade-based approach compared to previous approaches.