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Authors: Zhi Yan ; Nicolas Jouandeau and Arab Ali Cherif

Affiliation: Paris 8 University, France

ISBN: 978-989-8425-75-1

Keyword(s): Coordinated exploration, Decentralized decision making, Multi-robot systems.

Related Ontology Subjects/Areas/Topics: Distributed Control Systems ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Mobile Robots and Autonomous Systems ; Robotics and Automation

Abstract: This paper addresses the problem of exploring an unknown environment by a coordinated team of robots. An important question is, which robot should explore which region? In this paper, we present a novel decentralized task allocation approach based on trading rules for multi-robot exploration. In the decentralized system, robots can make their own decisions according to the local information with limited communication. In contrast to previous approaches, our trade-based approach is designed to simulate the relationship between buyers and sellers in a business system, to achieve dynamic task allocation by using a mechanism of unsolicited bid. Our approach has been implemented and evaluated in simulation. The experimental results demonstrate a good performance of the proposed trade-based approach compared to previous approaches.

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Paper citation in several formats:
Yan, Z.; Jouandeau, N. and Ali Cherif, A. (2011). MULTI-ROBOT DECENTRALIZED EXPLORATION USING A TRADE-BASED APPROACH.In Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-75-1, pages 99-105. DOI: 10.5220/0003405800990105

@conference{icinco11,
author={Zhi Yan. and Nicolas Jouandeau. and Arab Ali Cherif.},
title={MULTI-ROBOT DECENTRALIZED EXPLORATION USING A TRADE-BASED APPROACH},
booktitle={Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2011},
pages={99-105},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003405800990105},
isbn={978-989-8425-75-1},
}

TY - CONF

JO - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - MULTI-ROBOT DECENTRALIZED EXPLORATION USING A TRADE-BASED APPROACH
SN - 978-989-8425-75-1
AU - Yan, Z.
AU - Jouandeau, N.
AU - Ali Cherif, A.
PY - 2011
SP - 99
EP - 105
DO - 10.5220/0003405800990105

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