A Framework for Simulating Contract- Net-based Task Allocation in Object Transportation Applications
نویسنده
چکیده
Current technology trends in robotics are leading us to the development of multi-robot systems, that are capable of performing complex and multi-level tasks. Despite more than two decades of theoretical and experimental work on multi-robot systems, important aspects of coordination among robots have been untreated. To refer this issue, we focus on the problem of allocating tasks to a set of robots, called multi-robot task allocation, in object transportation applications. The contract-net protocol presents a generic mechanism for tasksharing in cooperative multi-robot systems by negotiations. However, due to its genericity, the solution space for configuring the contract net for a specific multi-robot task is large.
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