Multi-robot cooperative pursuit based on task bundle auctions

Ze Su Cai; Li Ning Sun; Hai Bo Gao; Pu Cheng Zhou; Song Hao Piao; Qing Cheng Huang

doi:10.1007/978-3-540-88513-9_26

Multi-robot cooperative pursuit based on task bundle auctions

Ze Su Cai^*
, Li Ning Sun
, Hai Bo Gao
, Pu Cheng Zhou
, Song Hao Piao
, Qing Cheng Huang

^*Corresponding author for this work

School of Computer Science and Technology, Harbin Institute of Technology
Harbin Institute of Technology
PLA Army Academy of Artillery and Air Defense

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

16 Scopus citations

Abstract

This paper mainly discusses the pursuit-evasion games, in which a team of autonomous mobile robots act as pursuers to pursue multiple moving targets cooperatively. In order to reduce the communication load during the task negotiation process, the auction mechanism in Economics was introduced, and an improved task negotiation process based on Task Bundle Auction was proposed. It allocated task dynamically through Dynamic coalition formation of multiple robots. In this paper, we propose the three possible coalition objectives and three different matrics of a multi-robot exploration and pursuit-evader. Based on these extensions, a kind of multi-robot cooperative pursuit algorithm that allows fault injection dynamic alliance is proposed. Simulation results show the feasibility and validity of the given algorithm.

Original language	English
Title of host publication	Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings
Publisher	Springer Verlag
Pages	235-244
Number of pages	10
Edition	PART 1
ISBN (Print)	3540885129, 9783540885122
DOIs	https://doi.org/10.1007/978-3-540-88513-9_26
State	Published - 2008
Event	1st International Conference on Intelligent Robotics and Applications, ICIRA 2008 - Wuhan, China Duration: 15 Oct 2008 → 17 Oct 2008

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Number	PART 1
Volume	5314 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	1st International Conference on Intelligent Robotics and Applications, ICIRA 2008
Country/Territory	China
City	Wuhan
Period	15/10/08 → 17/10/08

Keywords

Auction mechanism
Case-based reasoning
Multi-robot system
Pursuit-evasion game

Access to Document

10.1007/978-3-540-88513-9_26

Cite this

Cai, Z. S., Sun, L. N., Gao, H. B., Zhou, P. C., Piao, S. H., & Huang, Q. C. (2008). Multi-robot cooperative pursuit based on task bundle auctions. In Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings (PART 1 ed., pp. 235-244). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 5314 LNAI, No. PART 1). Springer Verlag. https://doi.org/10.1007/978-3-540-88513-9_26

Cai, Ze Su ; Sun, Li Ning ; Gao, Hai Bo et al. / Multi-robot cooperative pursuit based on task bundle auctions. Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings. PART 1. ed. Springer Verlag, 2008. pp. 235-244 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 1).

@inproceedings{d2a537eed9574139aff4e4e881e36c4b,

title = "Multi-robot cooperative pursuit based on task bundle auctions",

abstract = "This paper mainly discusses the pursuit-evasion games, in which a team of autonomous mobile robots act as pursuers to pursue multiple moving targets cooperatively. In order to reduce the communication load during the task negotiation process, the auction mechanism in Economics was introduced, and an improved task negotiation process based on Task Bundle Auction was proposed. It allocated task dynamically through Dynamic coalition formation of multiple robots. In this paper, we propose the three possible coalition objectives and three different matrics of a multi-robot exploration and pursuit-evader. Based on these extensions, a kind of multi-robot cooperative pursuit algorithm that allows fault injection dynamic alliance is proposed. Simulation results show the feasibility and validity of the given algorithm.",

keywords = "Auction mechanism, Case-based reasoning, Multi-robot system, Pursuit-evasion game",

author = "Cai, \{Ze Su\} and Sun, \{Li Ning\} and Gao, \{Hai Bo\} and Zhou, \{Pu Cheng\} and Piao, \{Song Hao\} and Huang, \{Qing Cheng\}",

year = "2008",

doi = "10.1007/978-3-540-88513-9\_26",

language = "英语",

isbn = "3540885129",

series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",

publisher = "Springer Verlag",

number = "PART 1",

pages = "235--244",

booktitle = "Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings",

address = "德国",

edition = "PART 1",

note = "1st International Conference on Intelligent Robotics and Applications, ICIRA 2008 ; Conference date: 15-10-2008 Through 17-10-2008",

}

Cai, ZS , Sun, LN, Gao, HB, Zhou, PC, Piao, SH & Huang, QC 2008, Multi-robot cooperative pursuit based on task bundle auctions. in Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings. PART 1 edn, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), no. PART 1, vol. 5314 LNAI, Springer Verlag, pp. 235-244, 1st International Conference on Intelligent Robotics and Applications, ICIRA 2008, Wuhan, China, 15/10/08. https://doi.org/10.1007/978-3-540-88513-9_26

Multi-robot cooperative pursuit based on task bundle auctions. / Cai, Ze Su ; Sun, Li Ning; Gao, Hai Bo et al.
Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings. PART 1. ed. Springer Verlag, 2008. p. 235-244 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 5314 LNAI, No. PART 1).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Multi-robot cooperative pursuit based on task bundle auctions

AU - Cai, Ze Su

AU - Sun, Li Ning

AU - Gao, Hai Bo

AU - Zhou, Pu Cheng

AU - Piao, Song Hao

AU - Huang, Qing Cheng

PY - 2008

Y1 - 2008

N2 - This paper mainly discusses the pursuit-evasion games, in which a team of autonomous mobile robots act as pursuers to pursue multiple moving targets cooperatively. In order to reduce the communication load during the task negotiation process, the auction mechanism in Economics was introduced, and an improved task negotiation process based on Task Bundle Auction was proposed. It allocated task dynamically through Dynamic coalition formation of multiple robots. In this paper, we propose the three possible coalition objectives and three different matrics of a multi-robot exploration and pursuit-evader. Based on these extensions, a kind of multi-robot cooperative pursuit algorithm that allows fault injection dynamic alliance is proposed. Simulation results show the feasibility and validity of the given algorithm.

AB - This paper mainly discusses the pursuit-evasion games, in which a team of autonomous mobile robots act as pursuers to pursue multiple moving targets cooperatively. In order to reduce the communication load during the task negotiation process, the auction mechanism in Economics was introduced, and an improved task negotiation process based on Task Bundle Auction was proposed. It allocated task dynamically through Dynamic coalition formation of multiple robots. In this paper, we propose the three possible coalition objectives and three different matrics of a multi-robot exploration and pursuit-evader. Based on these extensions, a kind of multi-robot cooperative pursuit algorithm that allows fault injection dynamic alliance is proposed. Simulation results show the feasibility and validity of the given algorithm.

KW - Auction mechanism

KW - Case-based reasoning

KW - Multi-robot system

KW - Pursuit-evasion game

UR - https://www.scopus.com/pages/publications/56749083646

U2 - 10.1007/978-3-540-88513-9_26

DO - 10.1007/978-3-540-88513-9_26

M3 - 会议稿件

AN - SCOPUS:56749083646

SN - 3540885129

SN - 9783540885122

T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

SP - 235

EP - 244

BT - Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings

PB - Springer Verlag

T2 - 1st International Conference on Intelligent Robotics and Applications, ICIRA 2008

Y2 - 15 October 2008 through 17 October 2008

ER -

Cai ZS , Sun LN, Gao HB, Zhou PC, Piao SH, Huang QC. Multi-robot cooperative pursuit based on task bundle auctions. In Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings. PART 1 ed. Springer Verlag. 2008. p. 235-244. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 1). doi: 10.1007/978-3-540-88513-9_26

Multi-robot cooperative pursuit based on task bundle auctions

Abstract

Publication series

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Cite this