Improving cost estimation in market-based coordination of a distributed sensing task

M. Bernardine Dias, Bernard Ghanem, Anthony Stentz

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

13 Scopus citations

Abstract

While market-based approaches, such as TraderBots, have shown much promise for efficient coordination of multirobot teams, the cost estimation mechanism and its impact on solution efficiency has not been investigated. This paper provides a first analysis of the cost estimation process in the TraderBots approach applied to a distributed sensing task. In the presented implementation, path costs are estimated using the D* path-planning algorithm with optimistic costing of unknown map-cells. The reported results show increased team efficiency when cost estimates reflect different environmental and mission characteristics. Thus, this paper demonstrates that market-based approaches can improve team efficiency if cost estimates take into account environmental and mission characteristics. These findings encourage future research on applying learning techniques for on-line modification of cost estimation and in market-based coordination.

Original languageEnglish (US)
Title of host publication2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages240-245
Number of pages6
DOIs
StatePublished - Dec 1 2005
EventIEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005 - Edmonton, AB, Canada
Duration: Aug 2 2005Aug 6 2005

Publication series

Name2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Other

OtherIEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005
CountryCanada
CityEdmonton, AB
Period08/2/0508/6/05

Keywords

  • Cost estimation
  • Market-based
  • Multirobot coordination

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

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