Improvement and Simulation of Contract-Net-Based Task Allocation for Multi-robot System
Due to the shortage of ignoring the balance between the mission success rate and the executive ability of the whole system in the common contract net models, a threshold-limited load balance strategy for awarding is proposed. The mathematical model of negotiation process based on improved contract net is established. The conceptual model of the multi-robot system based on improved contract net is implemented by Colored Petri Nets (CPN), and its correctness and dynamic properties such as liveness property, home property and fairness property are validated by using CPN Tools. Simulation results show that this method can effectively improve the performance, and ensure the overall system load balance.
KeywordsTask Allocation Task Load Liveness Property Fairness Property Executive Ability
Unable to display preview. Download preview PDF.
- 1.Fan, T.S., Qin, Z.: Task Assignment for Multi-UAV Using Contract Net Based on Filter Model. In: 2010 6th International Conference on Wireless Communications, Networking and Mobile Computing, Chengdu, pp. 343–346 (September 2010)Google Scholar
- 2.Tang, F., Parker, L.E.: A Complete Methodology for Generating Multi-Robot Task Solutions using ASyMTRe-D and Market-Based Task Allocation. In: 2007 IEEE International Conference on Robotics and Automation, Roma, Italy, vol. 10(14), pp. 3351–3358 (April 2007)Google Scholar
- 3.Zhang, G.S., Jiang, C.J.: Research of Contract Net Model Based on Cost Timed Petri Net. Journal of System Simulation 20, 5438–5441,5445 (2008)Google Scholar
- 4.Hsieh, F.: Modeling and Analysis of Contract Net Protocol. In: Proceedings of International Conference on Web Engineering, Berlin, Germangy, pp. 142–146 (2004)Google Scholar
- 5.Singh, A.: Introducing Trust Establishment Protocol in Contract Net Protocol. In: 2010 International Conference on Advances in Computer Engineering, pp. 59–63 (2010)Google Scholar
- 6.Liu, N., Gao, F.: Research on the Negotiation Strategy of Multi-Agent Based on Extened Contract Net. In: 2009 ETP International Conference on Future Computer and Communication, Wuhan, pp. 105–109 (2009)Google Scholar
- 7.Lee, J., Lee, S.-J., Chen, H.-M.: Dynamic Role Binding with Agent-centric Contract Net Protocol in Agent Organizations. In: 2008 IEEE International Conference on Systems, Man and Cybernetics, pp. 636–643 (2008)Google Scholar