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Advances in Robotics Research
  Volume 1, Number 2, April 2014 , pages 171-183

Distributed artificial capital market based planning in 3D multi-robot transportation
Adel Akbarimajd and Ghader Simzan

    Distributed planning and decision making can be beneficial from the robustness, adaptability and fault tolerance in multi-robot systems. Distributed mechanisms have not been employed in three dimensional transportation systems namely aerial and underwater environments. This paper presents a distributed cooperation mechanism on multi robot transportation problem in three dimensional environments. The cooperation mechanism is based on artificial capital market, a newly introduced market based negotiation protocol. In the proposed mechanism contributing in transportation task is defined as asset. Each robot is considered as an investor who decides if he is going to invest on some assets. The decision is made based on environmental constraint including fuel limitation and distances those are modeled as capital and cost. Simulations show effectiveness of the algorithm in terms of robustness, speed and adaptability.
Key Words
    multi-robot transportation; multiagent cooperation; market mechanism; artificial capital market
(1) Adel Akbarimajd:
Department of Electrical Engineering, Faculty of Engineering, University of Mohaghegh Ardabili, Ardabil, Iran;
(2) Ghader Simzan:
Department of Electrical Engineering, Islamic Azad University, Meshkin Shahr Branch, Iran.

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