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In this paper, we present a negotiation protocol for simultaneous task subdivision and allocation for heterogeneous multi-robot systems. An abstraction of the concept of task is presented that allows to apply the protocol on a variety of tasks. The negotiation adopts Rubinstein's alternate offers protocol, where offers are evaluated and generated using a(More)
In this paper, we present an application to Search and Rescue of a task negotiation protocol for teams of heterogeneous robots. Self-organization through autonomous negotiations allow the robots to assign themselves a number of target observation points decided by the operator, who is relieved from deciding the optimal assignment. The operator can then(More)
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