Negotiation with reaction functions for solving complex task allocation problems

We study task-allocation problems where cooperative robots need to perform tasks simultaneously. We develop a distributed negotiation procedure that allows robots to find all task exchanges that reduce the team cost of a given task allocation, without robots having to know how other robots compute their robot costs. Finally, we demonstrate empirically that our negotiation procedure can substantially reduce the team costs of task allocations resulting from existing task-allocation procedures, including sequential single-item auctions.

Authors

• Xiaoming Zheng
• Sven Koenig

Keywords

• Robot kinematics
• Chromium
• Routing
• Cost function
• Intelligent robots
• USA Councils
• Fires
• Computer science
• Distributed computing
• Collaboration
• Task Allocation
• Task Allocation Problem
• Auction
• Random Allocation
• Line Segment
• Time Of Visit
• Calculation Steps
• Target Time
• Complex Ones
• Central Planning
• Cost Of Solution
• Task Completion Time
• Swarm Robotics
• Simple Exchange
• Robotic Group
• Single Robot
• Simple Target
• Complex Exchanges
• Function Of The Robot