Multi-agent-based auctions for multi-robot exploration

被引：0
作者：
Ma, Xin [1 ,2 ]
Meng, Fang [1 ]
Li, Yibin [1 ]
Chen, Weidong [2 ]
Xi, Yugeng [2 ]
机构：
[1] Shandong Univ, Ctr Robot, Dept Sch Control Sci & Engn, Jinan, Shandong Prov, Peoples R China
[2] Shanghai Jiao Tong Univ, Sch Elect Informat Elect Engn, Dept Automat, Shanghai, Peoples R China
来源：
WCICA 2006: SIXTH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-12, CONFERENCE PROCEEDINGS | 2006年
关键词：
auction; contract net protocol; exploration; mobile robot; multi-agent;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Aiming at improving the efficiency of the multi-robot exploration, this paper presents a novel auction algorithm based on the contact net protocol of the multi-agent theory. On the basis of the analysis of the limitations of the usual action methods to the multi-robot exploration, the contract net protocol in the multi-agent theory is presented to design a completely distributive structure for the multi-robot exploration in order to increase the tolerance and reliability of the whole system. Then an improved multi-round single-item auction algorithm is presented to assign the frontiers to the multiple robots effectively. The theoretical analysis and the simulation experiments prove that the algorithm can lead to the effective coordination of multi-robot exploration with the decreasing computation compared to the combination auctions.
引用
收藏
页码：229 / 229
页数：1
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