Abstract
In this paper, an organization method for a collaborating team in a multi-agent robotic system is discussed. In order to realize a flexible and robust intelligent robotic system, we have been developing a distributed autonomous robotic system, ACTRESS, which is composed of multiple and heterogeneous robotic agents. In ACTRESS, every robotic agent aids other agents to achieve a common target, which cannot be carried out by a single agent. The agent requiring the collaboration organizes a collaborating team using communication, which consists of a leader agent (called coordinator) and some follower agents (called cooperators). For organizing the collaborating team, we developed an efficient negotiation method with a learning mechanism based on histories of past negotiations, and evaluated the method by an implemented simulator. Firstly, this paper presents teams and negotiation for organization in distributed autonomous robotic systems. Secondly, an organization strategy using negotiation with learning mechanism is discussed. Finally, the implementation and evaluation of this method are described, and experimental results are shown.
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© 1994 Springer-Verlag Tokyo
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Ozaki, K. et al. (1994). Negotiation Method for Collaborating Team Organization among Multiple Robots. In: Asama, H., Fukuda, T., Arai, T., Endo, I. (eds) Distributed Autonomous Robotic Systems. Springer, Tokyo. https://doi.org/10.1007/978-4-431-68275-2_18
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DOI: https://doi.org/10.1007/978-4-431-68275-2_18
Publisher Name: Springer, Tokyo
Print ISBN: 978-4-431-68277-6
Online ISBN: 978-4-431-68275-2
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