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  4. Market-based Coordination in Dynamic Environments Based on Hoplites Framework
 
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conference paper

Market-based Coordination in Dynamic Environments Based on Hoplites Framework

Talebpour, Zeynab  
•
Savarè, Stefano
•
Martinoli, Alcherio  
2017
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
The 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017)

This work focuses on multi-robot coordination based on the Hoplites framework for solving the multi-robot task allocation (MRTA) problem. Three variations of increasing complexity for the MRTA problem, spatial task allocation based on distance, spatial task allocation based on time and distance and persistent coverage have been studied in this work. The Fast Marching Method (FMM) has been used for robot path planning and providing estimates of the plans that robots bid on, in the context of the market. The use of this framework for solving the persistent coverage problem provides interesting insights by taking a high-level approach that is different from the commonly used solutions to this problem such as computing robot trajectories to keep the desired coverage level. A high fidelity simulation tool, Webots, along with the Robotic Operating System (ROS) have been utilized to provide our simulations with similar complexity to the real world tests. Results confirm that this pipeline is a very effective tool for our evaluations given that our simulations closely follow the results in reality. By modifying the replanning to prevent having costly or invalid plans by means of priority planning and turn taking, and basing the coordination on maximum plan length as opposed to time, we have been able to make improvements and adapt the Hoplites framework to our applications. The proposed approach is able to solve the spatial task allocation and persistent coverage problems in general. However, there exist some limitations. Particularly, in the case of persistent coverage, this method is suitable for applications where moderate spatial resolutions are sufficient such as patrolling.

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Type
conference paper
DOI
10.1109/IROS.2017.8202281
Author(s)
Talebpour, Zeynab  
•
Savarè, Stefano
•
Martinoli, Alcherio  
Date Issued

2017

Journal
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Start page

1105

End page

1112

Subjects

Multi-robot Task Allocation

•

Coordinated Navigation

•

Market-base Coordination

Peer reviewed

REVIEWED

Written at

EPFL

EPFL units
DISAL  
Event nameEvent placeEvent date
The 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017)

Vancouver, British Columbia, Canada

September 24–28, 2017

Available on Infoscience
June 23, 2017
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/138601
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