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Negotiating and Executing Composite Tasks for QoS-Aware Teams of Robots

  • Silvia RossiEmail author
  • Claudia Di Napoli
  • Francesco Barile
  • Alessandra  Rossi
  • Mariacarla Staffa
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 473)

Abstract

The problem of allocating tasks to a team of robots composing a complex activity with global performance constraints to be met, is NP-hard. Automated negotiation was proposed as a viable heuristic approach allowing for the dynamic adjustment of the performance levels provided by the single robots in the case of robots with limited resources. This approach leads to an improved exploitation of robots capabilities in terms of the number of composite activities that can be successfully allocated to the team. In the present work, the proposed approach is extended to include the possibility for the robots to negotiate for task allocation, and to execute the tasks in an interleaved way, so that the capabilities of the entire team can be better exploited, reducing the time the robots are inactive.

Keywords

Multi-robot systems Multi-robot task allocation Market-based task allocation 

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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • Silvia Rossi
    • 1
    Email author
  • Claudia Di Napoli
    • 2
  • Francesco Barile
    • 3
  • Alessandra  Rossi
    • 4
  • Mariacarla Staffa
    • 5
  1. 1.Dipartimento di Ingegneria Elettrica E Tecnologie dell’InformazioneUniversità degli Studi di Napoli Federico IINapoliItaly
  2. 2.Istituto di Calcolo e Reti ad Alte Prestazioni C.N.R.NapoliItaly
  3. 3.Dipartimento di Matematica e ApplicazioniUniversità degli Studi di Napoli Federico IINapoliItaly
  4. 4.Centre for Computer Science and Informatics ResearchUniversity of HertfordshireHatfieldUK
  5. 5.Department of EngineeringUniversity of Napoli ParthenopeNapoliItaly

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