Sold!: auction methods for multirobot coordination

  title={Sold!: auction methods for multirobot coordination},
  author={Brian P. Gerkey and Maja J. Matari{\'c}},
  journal={IEEE Trans. Robotics Autom.},
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… 

Figures and Tables from this paper

An auction-based approach to complex task allocation for multirobot teams

This thesis addresses a generalization of the task allocation problem, and presents a distributed solution for efficiently allocating a set of complex tasks among a robot team, and introduces a method for dramatically reducing the bidding time without significantly affecting solution quality.

Hoplites: A Market-Based Framework for Planned Tight Coordination in Multirobot Teams

This paper has developed a market-based framework, Hoplites, that consists of two novel coordination mechanisms, Passive coordination quickly produces locally-developed solutions while active coordination produces complex team solutions via negotiation between teammates.

TANSA: Task Allocation Using Nomadic Soft Agents for Multirobot Systems

  • S. S. JhaS. B. Nair
  • Computer Science
    IEEE Transactions on Emerging Topics in Computational Intelligence
  • 2018
The results clearly show that the TANSA-based approach outperforms two other prominent task allocation mechanisms, and further experiments in the real world performed using seven robots fortify the practical viability of this approach.

SET: An algorithm for distributed multirobot task allocation with dynamic negotiation based on task subsets

Two algorithms for the distributed solution of the MRTA problem are presented, one of which is based on the negotiation of subset of tasks and can be considered as a generalization of the first one, which only negotiates single tasks.

A market-based framework for tightly-coupled planned coordination in multirobot teams

This dissertation explores the challenges of one of the most difficult classes of real-world tasks for multirobot teams: those that require long-term planning of tightly-coordinated actions between teammates, and develops Hoplites, a general and adaptive approach to these complex problems.

Simultaneous Auctions for "Rendez-Vous" Coordination Phases in Multi-robot Multi-task Mission

A protocol that permits to automatically allocate tasks, in a distributed way, among a fleet of agents when communication is not permanently available, which is illustrated on multi-mobile-robot missions similar to distributed traveling salesmen problem.

A Distributed Version of the Hungarian Method for Multirobot Assignment

A distributed version of the Hungarian method to solve the well-known assignment problem for multirobot routing problems with “spatiotemporal” constraints is proposed and a team of robots cooperatively plays a piece of music on a so-called orchestral floor.

Multirobot coordination by auctioning POMDPs

The main idea is to exploit task execution controllers that rely on the availability of value functions that provide a natural way to obtain the bid values for a given task, compared to the heuristic and ad-hoc bid estimation procedures in common use.

Multiagent Coordination by Auctioning POMDP Tasks

The main idea is to take advantage of methods for the synthesis of task execution controllers that rely on the availability of value functions that provide a natural way to obtain the bid values for a given task.

Negotiated Path Planning for Non-Cooperative Multi-Robot Systems

This paper designs an auction mechanism that allows a group of agents to reach their goals whilst minimising the total cost of the system, and aims to design a mechanism such that rational agents are incentivised to participate.

A Free Market Architecture for Distributed Control of a Multirobot System

This work introduces a novel economic approach for coordinating robots based on the free market system and initial simulation results indicate the approach is successful at producing effective global plans for a team of several robots performing an interior sensing task.

ALLIANCE: an architecture for fault tolerant, cooperative control of heterogeneous mobile robots

  • L. Parker
  • Computer Science
    Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94)
  • 1994
A novel behavior-based, fully distributed architecture that utilizes adaptive action selection to achieve fault tolerant cooperative control in robot missions involving loosely coupled, largely independent tasks is described.

ALLIANCE: an architecture for fault tolerant multirobot cooperation

  • L. Parker
  • Computer Science
    IEEE Trans. Robotics Autom.
  • 1998
This software architecture allows the robot team members to respond robustly, reliably, flexibly, and coherently to unexpected environmental changes and modifications in the robotteam that may occur due to mechanical failure, the learning of new skills, or the addition or removal of robots from the team by human intervention.

Principled Communication for Dynamic Multi-robot Task Allocation

This paper proposes a general framework for inter-robot communication and advocates its use in dynamic task allocation for teams of cooperative mobile robots and base its communication model on publish/subscribe messaging and validate the system by using it in a tightly-coupled multi-ro Bot manipulaion task and a loosely-couple long-term experiment.

Pusher-watcher: an approach to fault-tolerant tightly-coupled robot coordination

  • Brian P. GerkeyM. Matarić
  • Computer Science
    Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)
  • 2002
A distributed planar object manipulation algorithm inspired by human behavior that enables the cooperative manipulation of large objects by teams of autonomous mobile robots, which is entirely distributed, with each robot under local control.

Distributed multi-robot task allocation for emergency handling

  • E. H. ØstergaardM. MatarićG. Sukhatme
  • Computer Science
    Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)
  • 2001
The results show that opportunism affords a significant performance improvement over individualism, and the viability of sound for producing detectable local gradients in the environment is demonstrated.

Challenger: a multi-agent system for distributed resource allocation

The main contribution of this research is the addition of learning to the agents, which allows Challenger to perform better under a wider range of conditions than other systems for distributed processor allocation, such as Malone's Enterprise.

Cooperative multi-robot box-pushing

This paper presents and experimentally demonstrate an approach that utilizes cooperation at three levels: sensing, action, and control, and takes the advantage of a simple communication protocol to compensate for the robots' noisy and uncertain sensing.

Toward a Robot Architecture Integrating Cooperation between Mobile Robots: Application to Indoor Environment

  • F. Noreils
  • Computer Science
    Int. J. Robotics Res.
  • 1993
This architecture exhibits important benefits such as mod ularity, robustness, and robustness (although some modules on the robot fail, it is still able to perform useful tasks), and programmability.

Collective robotic intelligence