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Punctual versus continuous auction coordination for multi-robot and multi-task topological navigation

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Abstract

This paper addresses the interest of using punctual versus continuous coordination for mobile multi-robot systems where robots use auction sales to allocate tasks between them and to compute their policies in a distributed way. In continuous coordination, one task at a time is assigned and performed per robot. In punctual coordination, all the tasks are distributed in Rendezvous phases during the mission execution. However, tasks allocation problem grows exponentially with the number of tasks. The proposed approach consists in two aspects: (1) a control architecture based on topological representation of the environment which reduces the planning complexity and (2) a protocol based on sequential simultaneous auctions (SSA) to coordinate Robots’ policies. The policies are individually computed using Markov Decision Processes oriented by several goal-task positions to reach. Experimental results on both real robots and simulation describe an evaluation of the proposed robot architecture coupled wih the SSA protocol. The efficiency of missions’ execution is empirically evaluated regarding continuous planning.

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Notes

  1. French National Research Agency (ANR) R-Discover project videos: www.greyc.fr/node/1629.

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Authors and Affiliations

  1. Department Informatique et Automatique, Mines Douai, 764 Boulevard Lahure, 59500, Douai, France

    Guillaume Lozenguez

  2. Pascal Institute, University Blaise Pascal, 24 Avenue des Landais, 63177, Aubiere, France

    Lounis Adouane

  3. LIP6, University Pierre & Marie Curie, 4 Place Jussieu, 75005, Paris, France

    Aurélie Beynier

  4. GREYC, University of Caen Basse-Normandie, Bd du Marechal Juin, 14000, Caen, France

    Abdel-Illah Mouaddib

  5. IRCCYN, École Centrale de Nantes, 1 rue de la Noë, 44312, Nantes, France

    Philippe Martinet

Authors
  1. Guillaume Lozenguez
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  2. Lounis Adouane
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  3. Aurélie Beynier
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  4. Abdel-Illah Mouaddib
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  5. Philippe Martinet
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Correspondence to Guillaume Lozenguez.

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Lozenguez, G., Adouane, L., Beynier, A. et al. Punctual versus continuous auction coordination for multi-robot and multi-task topological navigation. Auton Robot 40, 599–613 (2016). https://doi.org/10.1007/s10514-015-9483-7

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  • DOI: https://doi.org/10.1007/s10514-015-9483-7

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