Method of operating a robot in a multi-agent system, Robot and multi-agent system

摘要

Method for operating a multi-agent system with a plurality of robots (1), in which a predetermined mission defined by a sequence of system states is to be carried out, each of the robots (1) cyclically executing the following method: - carrying out one or more auction rounds , whereby the following steps are carried out in each auction round:◯ starting from a considered system state (q1-q10), determining (S11) possible options (o), the options (o) defining actions through which a transition from a considered to can be reached in a subsequent state (q1-q10);◯ for each of the possible options (o), determining (S12) action costs (AK) for carrying out an action specified by the option;◯ providing (S13) the determined action costs (AK) for each of the options to the remaining robots and receiving the action costs (AK) for each of the options (o) from the remaining robots;◯ conducting (S15) an auction so that an option (o ) depending on the option (o) in question assigned action costs (AK);- executing (S17) the actions indicated by the assigned options (o) which correspond to one or more of the options (o), depending on all of the relevant ones Options (o) determined or received action costs (AK), whereby the action costs (AK) for a considered option (o) take into account estimated mission costs, the mission costs depending on the costs of reaching a current system state, of experience costs, the estimated costs of reaching indicate a target state of the mission based on a subsequent state achievable through option (o), and be determined from the cost of implementing the option (o) under consideration.