Socially-Mediated Negotiation for Obstacle Avoidance in Collective Transport

  • Eliseo Ferrante
  • Manuele Brambilla
  • Mauro Birattari
  • Marco Dorigo
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 83)


In this paper, we present a novel method for performing collective transport in the presence of obstacles. Three robots are physically connected to an object to be transported from a start to a goal location. The task is particularly challenging because the robots have a heterogeneous perception of the environment. In fact, the goal and the obstacles can be perceived only by some of the robots. Hence, the task requires appropriate negotiation of the direction among the robots. We developed a novel negotiation strategy in order to tackle this challenge.We perform experiments in simulation. In the experiments,we analyze efficiency in an environment with only one obstacle, and robustness in an environment with several obstacles.


Obstacle Avoidance Wheel Speed Goal Location Negotiation Strategy Goal Area 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Eliseo Ferrante
    • 1
  • Manuele Brambilla
    • 1
  • Mauro Birattari
    • 1
  • Marco Dorigo
    • 1
  1. 1.IRIDIA, CoDE, Université Libre de BruxellesBrusselsBelgium

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