Consensus-Based Auction Methods with Bid Intercession for SAR

This research addresses the process of task allocation in a heterogeneous multi-agent fleet through the introduction of a novel mechanism in existing decentralised consensus algorithms: bid intercession. Bid intercession refers to the principle of agents biding on behalf of other agents in decision-making architectures leveraging market-based...

Distributed multi-robot formation control in dynamic environments

This paper presents a distributed method for formation control of a homogeneous team of aerial or ground mobile robots navigating in environments with static and dynamic obstacles. Each robot in the team has a finite communication and visibility radius and shares information with its neighbors to coordinate. Our approach leverages both...

Software Infrastructure for Communications in Distributed Robotics Systems

Communication libraries that are created for Multi Agent Systems and Distributed Robotics Systems are generally application specific and do not address many systems with different capabilities. The purpose of this project is to design and implement a software communication library for Distributed Robotics Systems not only to meet the needs of...