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

页码：923 / 934

页数：12

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