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�
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
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 Rj Rm
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
