M+: a scheme for multi-robot cooperation through negotiated task allocation and achievement

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HAL Id: hal-01979717

https://hal.laas.fr/hal-01979717

Submitted on 13 Jan 2019

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M+: a scheme for multi-robot cooperation through

negotiated task allocation and achievement

Silvia .C. Botelho, Rachid Alami

To cite this version:

Silvia .C. Botelho, Rachid Alami. M+: a scheme for multi-robot cooperation through negotiated task allocation and achievement. IEEE International Conference on Robotics and Automation, May 1999, Detroit, United States. �hal-01979717�

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Robot1 Robot2

Robot1 World State

State State

Global World Global World

T2 T3 T4 T1 A1 A2 A3 A4 T2 T3 T4 T1 A1 A3 A4 A2 State Robot2 World Mission

Robot 1 Robot 2 Robot n

Mission Layer

Action Layer Task Layer

others conflicts: Plan-Merging

M+ protocol M+ protocol Coordinated Task Distributed Task Cooperative Reaction to Contingencies (Re)Allocation Acheivement planner planner planner M+ protocol PRS PRS PRS

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6 5 4 IDLE 7 8 EVAL 2 1 PLAN 3 BEST CANDIDATE CANDIDATE i R OFFER_HELP(Tk)(Rm)(Cmk)(Amk) NO_HELP(Tk)(Ri)(Ckj) OFFER_HELP(Tk)(Rj)(Cjk)(Ajk) Rm Ri REQUEST_HELP(Tk)(Ri) OK_HELP(Tk)(Ri)(Cjk) Ri all Ri Rm Ri Ri Rj Rj R_j R_m

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1 3 9 4 0 5 2 7 8 cooperation reallocation 6 TASK 9 TASK 8 TASK 7 TASK 6 TASK 5 TASK 5 TASK 4 TASK 3 TASK 2 TASK 1 TASK 0