Summary
Task allocation is an issue that every multi-robot system must address. Recent task allocation solutions propose an auction based approach wherein robots bid for tasks based on cost functions for performing a task. This paper presents RACHNA, a novel architecture for multi-robot task allocation based on a modified algorithm for the winner determination problem in multi-unit combinatorial auctions. A more generic utility based framework is proposed to accommodate different types of tasks and task environments. Preliminary experiments yield promising results demonstrating the system’s superiority over simple task allocation techniques.
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Vig, L., Adams, J.A. (2006). Market-Based Multi-robot Coalition Formation. In: Gini, M., Voyles, R. (eds) Distributed Autonomous Robotic Systems 7. Springer, Tokyo. https://doi.org/10.1007/4-431-35881-1_23
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DOI: https://doi.org/10.1007/4-431-35881-1_23
Publisher Name: Springer, Tokyo
Print ISBN: 978-4-431-35878-7
Online ISBN: 978-4-431-35881-7
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