%B 2009 IEEE International Conference on Robotics and Automation, ICRA 2009
%L upm5425
%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.
%I IEEE
%A Claudio Rossi
%A Leyre Aldama Perez
%A Antonio Barrientos Cruz
%C New Jersey, EEUU
%D 2009
%T Simultaneous Task Subdivision and Allocation for Teams of Heterogeneous Robots