Improving Cost Estimation in Market-Based Coordination of a Distributed Sensing Task

Improving Cost Estimation in Market-Based Coordination of a Distributed Sensing Task

M. Bernardine Dias, Bernard Ghanem, and Anthony Stentz
"Improving Cost Estimation in Market-Based Coordination of a Distributed Sensing Task"
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2005)

M. Bernardine Dias, Bernard Ghanem, and Anthony Stentz
Multirobot Coordination, Market-Based, Cost Estimation
2005
​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.