© 2015 The Author(s). Licensee InTech. This paper presents a negotiations based approach for simultaneous task subdivision and assignment in heterogeneous multi robot systems. We first propose an abstraction of the concept of a task that allows for the generalizing of a variety of different problems. Based on such an abstraction, we have developed a negotiation protocol based on Rubinstein's alternate offers protocol. This is extended to the multi dimensional space and employs a heuristic search step for evaluating and generating offers. Furthermore, the issue of how to extend a bilateral negotiations protocol to more than two parties is taken into consideration. The protocol was first tested in numerical simulations with different scenarios and then applied to three real world missions. ; This work was partially funded by the projects ROTOS (Fleet of autonomous aerial and ground robots - DPI2006-03444) of the Ministry of Education and Science of Spain, RHEA (NMP-CP-IP 245986-2) of the European Commission, and ROBOCITY2030 of the Community of Madrid, Spain. ; Peer Reviewed


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    Title :

    Simultaneous task subdivision and allocation using negotiations in multi-robot systems



    Publication date :

    2015-01-01



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629




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