Abstract
We propose an auction-based method for a team of robots to allocate and execute tasks that have temporal and precedence constraints. The robots use our priority-based iterated sequential single-item auction algorithm to allocate tasks among themselves and keep track of their individual schedules. The key idea is to decouple precedence constraints from temporal constraints and deal with them separately. In this paper we demonstrate how the allocation scheme can be extended to handle failures and delays during task execution. We demonstrate the effectiveness of our method in simulation and with real robot experiments.
| Original language | English (US) |
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| Title of host publication | 2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2016 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 197-202 |
| Number of pages | 6 |
| ISBN (Electronic) | 9781509046164 |
| DOIs | |
| State | Published - Feb 22 2017 |
| Event | 2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2016 - San Francisco, United States Duration: Dec 13 2016 → Dec 16 2016 |
Publication series
| Name | 2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2016 |
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Other
| Other | 2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2016 |
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| Country/Territory | United States |
| City | San Francisco |
| Period | 12/13/16 → 12/16/16 |
Bibliographical note
Publisher Copyright:© 2016 IEEE.