Auction Aggregation Protocols for Wireless Robot-Robot Coordination

Mezei, Ivan; Malbaša, Veljko

doi:10.1007/978-3-642-04383-3_14

Cited by 15 publications

(10 citation statements)

References 19 publications

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“…Mezei et al [3] are interested in robot-robot collaboration to meet a set of mutually benefitting objectives. The objectives are to minimize communication costs, response time, and the cost to performing tasks.…”

Section: Related Workmentioning

confidence: 99%

“…The objectives are to minimize communication costs, response time, and the cost to performing tasks. A key point in the research of [3] is that the task allocation process through the use of auction aggregation protocols can be conducted in a de-centralized manner. Several auction protocols -k-SAP, SAAP, k-SAAP, k-AAP and RFT -are discussed and their various benefits compared to Simple Auction Protocol (SAP).…”

Section: Related Workmentioning

confidence: 99%

“…Several auction protocols -k-SAP, SAAP, k-SAAP, k-AAP and RFT -are discussed and their various benefits compared to Simple Auction Protocol (SAP). The work of [3] focusses on a single robot for a single task and only considers a cost metric as a function of distance from the event.…”

Section: Related Workmentioning

confidence: 99%

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Auction-based node selection of optimal and concurrent responses for a risk-aware robotic sensor network

McCausland

Abielmona

Falcón

et al. 2013

2013 IEEE International Symposium on Robotic and Sensors Environments (ROSE)

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In this paper, an auction-based node selection technique is considered for a risk-aware Robotic Sensor Network (RSN) applied to Critical Infrastructure Protection (CIP). The goal of this risk-aware RSN is to maintain a secure perimeter around the CIP, which is best maintained by detecting high-risk network events and mitigate them through a response involving the most suitable robotic nodes. These robotic nodes can operate without the use of a centralized system and select amongst themselves the nodes with the best fitness to risk mitigation plan. The robot node that is first aware of a highrisk event becomes an auctioneer. The risk mitigation task is advertised to the entire network. Each robotic node is responsible for calculating their bid metric (i.e. availability metric) for the risk mitigation task. We employ fuzzy logic in the process of the bid calculation, which incorporates the battery level, distance to the event, and redundant coverage to produce an appropriate bid value. The auctioneer only considers the top bidders. The nature of this system is to permit simultaneous mitigation plans to execute on a single RSN by effectively segmenting the network into discrete autonomous groups. Each autonomous group will utilize an evolutionary multi-objective algorithm -the Non-Dominated Sorting Genetic Algorithm (NSGA-II) -to optimize the segment's topology to mitigate the risk. A chromosome length is determined by the number of bids received, but the NSGA-II explored to separate solution spaces to achieve optimal Pareto results. The NSGA-II will seek optimal node positions and determine the optimal set of robotic nodes to utilize of the bids received. The NSGA-II will produce a set of optimized responses for each network segment for a security operator to pick the most suitable response.

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Section: Related Workmentioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%

See 1 more Smart Citation

Auction-based node selection of optimal and concurrent responses for a risk-aware robotic sensor network

McCausland

Abielmona

Falcón

et al. 2013

2013 IEEE International Symposium on Robotic and Sensors Environments (ROSE)

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“…Authors Mezei et al in [21] pursue efforts to improve upon existing MRTAauction based techniques such as [22], [19], and [23]. proposes to restrict robot selection to a subset of the total robot population.…”

Section: Multi-robot Task Allocation Techniquesmentioning

confidence: 99%

A proactive risk-aware robotic sensor network for Critical Infrastructure Protection

McCausland

Nardo

Falcón

et al. 2013

2013 IEEE International Conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applicati

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In this thesis a Proactive Risk-Aware Robotic Sensor Network (RSN) is proposed for the application of Critical Infrastructure Protection (CIP). Each robotic member of the RSN is granted a perception of risk by means of a Risk Management Framework (RMF). A fuzzy-risk model is used to extract distress-based risk features and potential intrusion-based risk features for CIP. Detected high-risk events invoke a fuzzy-auction Multi-Robot Task Allocation (MRTA) algorithm to create a response group for each detected risk. Through Evolutionary Multi-Objective (EMO) optimization, a Pareto set of optimal robot configurations for a response group will be generated using the Non-Dominating Sorting Genetic Algorithm II (NSGA-II). The optimization objectives are to maximize sensor coverage of essential spatial regions and minimize the amount of energy exerted by the response group. A set of nondominated solutions are produced from EMO optimization for a decision maker to select a single response. The RSN response group will re-organize based on the specifications of the selected response.ii

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“…Mezei et al [2] have presented a Simple Auction Aggregation Protocol (SAAP) for non-real-time task assignment in wireless robot networks and WSANs. A robot (actor) coordinates with other robots upon receiving information on an event to select the best robot to respond to that event.…”

Section: Related Workmentioning

confidence: 99%

Distributed assignment of real-time tasks in wireless sensor actor networks

Momeni

Sharifi

Okhovvat

2011

IEICE Electron. Express

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To achieve more cost-effective assignment of real-time tasks to actors in wireless sensor actor networks we propose a distributed auction-based protocol that uses tasks' deadlines, actors' energies, actors' loads and actors' distances from event area as a cumulative cost metric. The protocol chooses actors closest to event area with lowest loads and highest remaining energies to minimize the response time of tasks, balance loads on actors and maximize total remaining energy of actors. Simulations show higher deadline meet-ratio and remaining energies of actors, and more balanced loads on actors, compared to SAP and SAAP task-assignment protocols.

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Auction Aggregation Protocols for Wireless Robot-Robot Coordination

Cited by 15 publications

References 19 publications

Auction-based node selection of optimal and concurrent responses for a risk-aware robotic sensor network

Auction-based node selection of optimal and concurrent responses for a risk-aware robotic sensor network

A proactive risk-aware robotic sensor network for Critical Infrastructure Protection

Distributed assignment of real-time tasks in wireless sensor actor networks

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