Multi-robot coalition formation

doi:10.1109/TRO.2006.878948

2006-08-01

210

Lovekesh Vig *

Julie A. Adams

DOI：10.1109/TRO.2006.878948

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摘要

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随着社区努力实现自主多机器人系统，这些系统需要自主组建联盟以完成分配的任务。在软件代理文献中已经提出了许多联盟形成算法。存在在超级加性和非超级加性环境中形成代理联盟的算法。算法技术从多代理系统 (NUS) 环境中基于协商的协议到基于计算的协议不等。在分布式问题解决 (DPS) 环境中。还讨论了与博弈论有关的联盟形成行为。尽管有大量的MAS联盟形成文献，但据我们所知，尚未使用实际的多机器人系统证明所提出的算法。多智能体算法及其在多机器人领域的适用性之间存在差异。本文旨在通过发现在尝试将这些算法定制为多机器人领域时出现的问题来弥合这种差异。已经研究了一种众所周知的多智能体联盟形成算法，以确定必要的修改，以促进其在多机器人领域的应用。本文报告了基于仿真和实际机器人实验的多机器人联盟形成结果。已在实际的机器人系统上演示了多智能体联盟形成算法。

Keyword:

coalition formation

coalition imbalance

task allocation

期刊

IEEE Transactions on Robotics

IF:

10.5

论文数:

3.3K

被引数:

2.8W

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