Sold!: auction methods for multirobot coordination

@article{Gerkey2002SoldAM,
  title={Sold!: auction methods for multirobot coordination},
  author={Brian P. Gerkey and Maja J. Matari{\'c}},
  journal={IEEE Trans. Robotics Autom.},
  year={2002},
  volume={18},
  pages={758-768}
}
The key to utilizing the potential of multirobot systems is cooperation. How can we achieve cooperation in systems composed of failure-prone autonomous robots operating in noisy, dynamic environments? We present a method of dynamic task allocation for groups of such robots. We implemented and tested an auction-based task allocation system which we call MURDOCH, built upon a principled, resource centric, publish/subscribe communication model. A variant of the Contract Net Protocol, MURDOCH… 
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