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pareto-optimization

Robotica (1)

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Game theory-based negotiation for multiple robots task allocation
Rongxin Cui, Ji Guo, Bo Gao
Journal:

Robotica / Volume 31 / Issue 6 / September 2013

Published online by Cambridge University Press:

07 March 2013, pp. 923-934
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This paper investigates task allocation for multiple robots by applying the game theory-based negotiation approach. Based on the initial task allocation using a contract net-based approach, a new method to select the negotiation robots and construct the negotiation set is proposed by employing the utility functions. A negotiation mechanism suitable for the decentralized task allocation is also presented. Then, a game theory-based negotiation strategy is proposed to achieve the Pareto-optimal solution for the task reallocation. Extensive simulation results are provided to show that the task allocation solutions after the negotiation are better than the initial contract net-based allocation. In addition, experimental results are further presented to show the effectiveness of the approach presented.