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Lazy auctions for multi-robot collision avoidance and motion control under uncertainty

Calliess, Jan-P.; Lyons, Daniel; Hanebeck, Uwe D.

We present an auction-flavored multi-robot planning mechanism where coordination is to be achieved on the occupation of atomic resources modeled as binary inter-robot constraints. Introducing virtual obstacles, we show how this approach can be combined with particlebased obstacle avoidance methods, offering a decentralized, auction-based alternative to previously established centralized approaches for multirobot open-loop control. We illustrate the effectiveness of our new approach by presenting simulations of typical spatially-continuous multirobot path-planning problems and derive bounds on the collision probability in the presence of uncertainty.

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Volltext §
DOI: 10.5445/IR/1000035116
DOI: 10.1007/978-3-642-27216-5_21
Seitenaufrufe: 6
seit 27.04.2018
Downloads: 64
seit 06.06.2013
Zugehörige Institution(en) am KIT Institut für Anthropomatik (IFA)
Publikationstyp Proceedingsbeitrag
Jahr 2012
Sprache Englisch
Identifikator ISBN: 978-3-642-27215-8
ISSN: 0302-9743
KITopen-ID: 1000035116
Erschienen in Advanced agent technology : AAMAS Workshops 2011, AMPLE, AOSE, ARMS, DOCM³AS, ITMAS, Taipei, Taiwan, May 2 - 6, 2011; revised selected papers. Ed.: F. Dechesne
Verlag Springer, Berlin
Seiten 295-312
Serie Lecture Notes in Computer Science ; 7068
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