Game theory-based negotiation for multiple robots task allocation

被引：48
作者：
Cui, Rongxin [1 ]
Guo, Ji [2 ]
Gao, Bo [1 ]
机构：
[1] Northwestern Polytech Univ, Coll Marine Engn, Xian 710072, Peoples R China
[2] Anyang Normal Univ, Coll Phys & Elect Engn, Anyang 455000, Peoples R China
来源：
ROBOTICA | 2013年 / 31卷
基金：
中国国家自然科学基金;
关键词：
Task allocation; Game theory; Multiple robots; Negotiation; Cooperative control; Pareto-optimization; MOBILE MANIPULATORS; ADAPTIVE-CONTROL; COORDINATION; ALGORITHM;
D O I：
10.1017/S0263574713000192
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This paper investigates task allocation for multiple robots by applying the game theory-based negotiation approach. Based on the initial task allocation using a contract net-based approach, a new method to select the negotiation robots and construct the negotiation set is proposed by employing the utility functions. A negotiation mechanism suitable for the decentralized task allocation is also presented. Then, a game theory-based negotiation strategy is proposed to achieve the Pareto-optimal solution for the task reallocation. Extensive simulation results are provided to show that the task allocation solutions after the negotiation are better than the initial contract net-based allocation. In addition, experimental results are further presented to show the effectiveness of the approach presented.
引用
收藏
页码：923 / 934
页数：12
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