Negotiation between multiple mobile robots and an environment manager

An autonomous and decentralized robot system, ACTRESS, is being developed as an intelligent robot system which is composed of multiple robotic agents. In this paper, the basic concept of ACTRESS and a strategy for organizing multiple mobile robots including a communication framework in ACTRESS are introduced. The negotiation for distributed problem solving and cooperative actions is discussed. Especially, in order to manage and share the changing environment information, negotiation between multiple mobile robots and an environment manager is required. Finally, a wireless communication system for negotiation between multiple robotic agents is developed. Its performance is analyzed by experimental evaluation on searching for an environment manager by mobile robots, and some examples of communication including negotiation are shown.<
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