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Carnegie Mellon Robotics Institute

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Abstract

In this paper, we introduce a novel approach to multirobot coordination that works by simultaneously distributing task allocation, mission planning, and execution among members of a robot team. By combining traditional hierarchical task decomposition techniques with recent developments in market-based multirobot control, we obtain an efficient and robust distributed system capable of solving complex problems. Essentially, we have extended the TraderBots market-based architecture to include a mechanism that distributes tasks among robots at multiple levels of abstractions, represented as task trees. Results are presented for a simulated area reconnaissance scenario.

Keywords

multirobot, coordination, market

Notes

Associated Center(s) / Consortia: Field Robotics Center

Number of pages: 6

Text Reference

Robert Michael Zlot and Anthony (Tony) Stentz, "Market-based Multirobot Coordination Using Task Abstraction," International Conference on Field and Service Robotics, July, 2003.

BibTeX Reference

@inproceedings{Zlot_2003_4537,
   author = "Robert Michael Zlot and Anthony (Tony) Stentz",
   title = "Market-based Multirobot Coordination Using Task Abstraction",
   booktitle = "International Conference on Field and Service Robotics",
   month = "July",
   year = "2003",
}

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