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We study task-allocation problems where cooperative robots need to perform tasks simultaneously. We develop a distributed negotiation procedure that allows robots to find all task exchanges that reduce the team cost of a given task allocation, without robots having to know how other robots compute their robot costs. Finally, we demonstrate empirically that our negotiation procedure can substantially...
In this paper, we study how multiple robots can cover known terrain quickly. We extend Multi-Robot Forest Coverage, a state-of-the-art multi-robot coverage algorithm, from terrain with uniform traversability to terrain with non-uniform traversability, which is nontrivial. We prove that its cover times are at most about sixteen times larger than minimal and demonstrate experimentally that they are...
We study how to improve sequential single-item auctions that assign targets to robots for exploration tasks such as environmental clean-up, space-exploration, and search and rescue missions. We exploit the insight that the resulting travel distances are small if the bidding and winner-determination rules are designed to result in hillclimbing, namely to assign an additional target to a robot in each...
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