Abstract
We present an auction-flavored multi-robot planning mechanism where coordination is to be achieved on the occupation of atomic resources modeled as binary inter-robot constraints. Introducing virtual obstacles, we show how this approach can be combined with particle-based obstacle avoidance methods, offering a decentralized, auction-based alternative to previously established centralized approaches for multi-robot open-loop control. We illustrate the effectiveness of our new approach by presenting simulations of typical spatially-continuous multi-robot path-planning problems and derive bounds on the collision probability in the presence of uncertainty.
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Calliess, JP., Lyons, D., Hanebeck, U.D. (2012). Lazy Auctions for Multi-robot Collision Avoidance and Motion Control under Uncertainty. In: Dechesne, F., Hattori, H., ter Mors, A., Such, J.M., Weyns, D., Dignum, F. (eds) Advanced Agent Technology. AAMAS 2011. Lecture Notes in Computer Science(), vol 7068. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-27216-5_21
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DOI: https://doi.org/10.1007/978-3-642-27216-5_21
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