NDLI: Task allocation for multi-robot cooperative hunting behavior based on improved auction algorithm

Content Provider	IEEE Xplore Digital Library
Author	Sun Wei Dou Lihua Fang Hao Zhang Haiqiang
Copyright Year	2008
Description	Author affiliation: Educ. Minist. Key Lab. of Complex Syst. Intell. Control & Decision, Beijing Inst. of Technol., Beijing (Sun Wei; Dou Lihua; Fang Hao; Zhang Haiqiang)
Abstract	Within the frameworks of the well-known contract net protocol, a task allocation method for multi-robot cooperative hunting behavior is proposed based on an improved auction algorithm. Previous allocation methods using ordinary auction algorithms might turn out to be unsuitable when targets keep moving. Furthermore, the ordinary auctions might lead to unfavorable releases of the captured targets, because the hunters which were formerly assigned to relative tasks might be designated to some other tasks in a new round of bidding. In this paper an improved auction algorithm is proposed which may establish an ordered task list and holds biddings for each task in the list repeatedly. Therefore the allocation methods can be modified which allow dealing with a considerable volume of tasks in a dynamic environments. In addition, this approach holds no biddings for the accomplished tasks, and the relative hunters will keep guarding on their previously assigned target. The improvements also save the computational cost. Simulations demonstrate the flexibility and the efficiency of the method and the hunting task can be achieved in nearly half the time of the original methods.
Starting Page	435
Ending Page	440
File Size	256631
Page Count	6
File Format	PDF
ISBN	9787900719706
DOI	10.1109/CHICC.2008.4605654
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-07-16
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute Of Intelligence M&C Technical Of KMUST
Subject Keyword	Heuristic algorithms Robot kinematics Computational modeling Contract Net Protocol Force Task Allocation Auction Resource management Multi-Robot System Robots Contracts
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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