A Market Mechanism for QoS-aware Multi-Robot Task Allocation

Market mechanisms, such as auctions and negoti- ations, are often used for efficient task allocation in multi-robot domains where tasks are characterized by quality parameters that are related to the way the task is executed depending on the specific robot capabilities. In these cases, usually robots negotiate their respective assignments in order to optimize task distribution according to their own utility function. In this work, a market- based negotiation mechanism is proposed to allocate tasks to a set of robots by taking into account end-to-end requirements that the complete allocation should meet in terms of the considered quality parameters. Negotiation takes place on these parameters that are considered goods to be traded by the individual robots, depending on their strategies, so that they can successfully negotiate to obtain the task allocation.