Sold!: auction methods for multirobot coordination

Gerkey, Brian; Matarić, Maja J.

doi:10.1109/tra.2002.803462

Cited by 830 publications

(509 citation statements)

References 30 publications

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“…If both tasks and robots are heterogeneous, more complex coordination strategies will be required. For instance, market-based approaches offer simple analyzable distributed coordination strategies that may be used with robots [9].…”

Section: Discussion and Future Workmentioning

confidence: 99%

A Macroscopic Analytical Model of Collaboration in Distributed Robotic Systems

et al. 2001

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In this article, we present a macroscopic analytical model of collaboration in a group of reactive robots. The model consists of a series of coupled differential equations that describe the dynamics of group behavior. After presenting the general model, we analyze in detail a case study of collaboration, the stick-pulling experiment, studied experimentally and in simulation by Ijspeert et al. [Autonomous Robots,11,. The robots' task is to pull sticks out of their holes, and it can be successfully achieved only through the collaboration of two robots. There is no explicit communication or coordination between the robots. Unlike microscopic simulations (sensor-based or using a probabilistic numerical model), in which computational time scales with the robot group size, the macroscopic model is computationally efficient, because its solutions are independent of robot group size. Analysis reproduces several qualitative conclusions of Ijspeert et al.: namely, the different dynamical regimes for different values of the ratio of robots to sticks, the existence of optimal control parameters that maximize system performance as a function of group size, and the transition from superlinear to sublinear performance as the number of robots is increased.

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Section: Discussion and Future Workmentioning

confidence: 99%

A Macroscopic Analytical Model of Collaboration in Distributed Robotic Systems

et al. 2001

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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

253

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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“…A recent survey [8] covers in detail the state of the art in using auctions to coordinate robots for tasks such as exploration [13], navigation to different locations [19], and box pushing [10]. Auction-based methods for allocation of tasks are becoming popular in robotics [11,19] as an alternative to other allocation methods, such as centralized scheduling [3], blackboard systems [9], or application-specific methods, which do not easily generalize [1] to other domains.…”

Section: Related Workmentioning

confidence: 99%

Repeated auctions for robust task execution by a robot team

Nanjanath

Gini

2010

Robotics and Autonomous Systems

105

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We present empirical results of an auction-based algorithm for dynamic allocation of tasks to robots. The results have been obtained both in simulation and using real robots. A distinctive feature of our algorithm is its robustness to uncertainties and to robot malfunctions that happen during task execution, when unexpected obstacles, loss of communication, and other delays may prevent a robot from completing its allocated tasks. Therefore tasks not yet achieved are resubmitted for bids every time a task has been completed. This provides an opportunity to improve the allocation of the remaining tasks, enabling the robots to recover from failures and reducing the overall time for task completion.

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Sold!: auction methods for multirobot coordination

Cited by 830 publications

References 30 publications

A Macroscopic Analytical Model of Collaboration in Distributed Robotic Systems

A Macroscopic Analytical Model of Collaboration in Distributed Robotic Systems

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

Repeated auctions for robust task execution by a robot team

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