Coordination-oriented control architecture for multi-robot system

摘要

The essential consideration of multi-robot system is dealing with whole system as a team, in which individual robots interact with each other, avoid conflict, and cooperate to accomplish the tasks reliably and efficiently in complex environment. This work presents a market-based architecture for distributed multi-robot system by using Emotion Model and quadratic auction strategy to achieve the cooperative task allocation in dynamic circumstance. Results illustrate the proposed approach with distributed group architecture can improve efficiency of multi-robot task allocation and accomplishment.