%0 Conference Paper
%A Rossi, Claudio
%A Aldama Perez, Leyre
%A Barrientos Cruz, Antonio
%B Proceedings of 2009 IEEE International Conference on Robotics and Automation, ICRA 2009
%C Kobe, Japón
%D 2009
%F upm:5425
%I IEEE
%T Simultaneous Task Subdivision and Allocation for Teams of Heterogeneous Robots
%U https://oa.upm.es/5425/
%X In this paper, we present a negotiation protocol for simultaneous task subdivision and allocation for heterogeneous multi-robot systems. An abstraction of the concept of task is presented that allows to apply the protocol on a variety of tasks. The negotiation adopts Rubinstein's alternate offers protocol, where offers are evaluated and generated using a heuristic search step. The protocol has been tested on computer simulations.