Opportunistic Optimization for Market-Based Multirobot Control

M Bernardine Dias and Anthony (Tony) Stentz
Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '02), September, 2002, pp. 2714 - 2720.


Download
  • Adobe portable document format (pdf) (121KB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract
Multirobot coordination, if made efficient and robust, promises high impact on automation. The challenge is to enable robots to work together in an intelligent manner to execute a global task. The market approach has had considerable success in the multirobot coordination domain. This paper investigates the effects of introducing opportunistic optimization with leaders to enhance market-based multirobot coordination. Leaders are able to optimize within subgroups of robots by collecting information about their tasks and status, and re-allocating the tasks within the subgroup in a more profitable manner. The presented work considers the effects of a leader optimizing a single subgroup, and some effects of multiple leaders optimizing overlapping subgroups. The implementations were tested on a variation of the distributed traveling salesman problem. Presented results show that global costs can be reduced, and hence task allocation can be improved, utilizing leaders.

Keywords
Market Based, mult-agent, multirobot, optimization

Notes
Associated Center(s) / Consortia: Field Robotics Center
Associated Project(s): Cognitive Colonies
Number of pages: 7

Text Reference
M Bernardine Dias and Anthony (Tony) Stentz, "Opportunistic Optimization for Market-Based Multirobot Control," Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '02), September, 2002, pp. 2714 - 2720.

BibTeX Reference
@inproceedings{Dias_2002_4037,
   author = "M Bernardine Dias and Anthony (Tony) Stentz",
   title = "Opportunistic Optimization for Market-Based Multirobot Control",
   booktitle = "Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '02)",
   pages = "2714 - 2720",
   month = "September",
   year = "2002",
   volume = "3",
}