Date of Award
2012
Document Type
Dissertation
Degree Name
Doctor of Philosophy (PhD)
Department
Electrical Engineering
First Advisor
Homaifar, Abdollah
Abstract
This dissertation studied the coordination problem for a Task Initiator (TI) with multiple ground stations (GSs). Each GS has a team of unmanned aerial vehicles (UAVs) that frequently collected data from a set of unattended ground sensors (UGSs) and delivered it to the source ground station (GS). The GSs made the information available to the TI. This problem formulated into a continuous, time-constrained version of the multi-travelling salesmen problem. A market-based coordination mechanism is presented that uses the concepts of price, revenue, cost, and a sequence of first-price, one-round auctions between the TI and GSs from one side, and double auction between GSs and UAVs from another side to distribute data collection tasks efficiently among team members. In a dynamic environment, this approach promises robustness, adaptation, and graceful degradation. Tasks from GS-to-UAV are double first-price sealed-bid sequential procurement auctions possibly with (additional) subcontracting (negotiation) and TI as a market matcher. To the author‘s knowledge, this is the first occurrence of using double auction as a coordination method in robot industries.
Recommended Citation
Osman, Eisa Hassan, "Multi-Robot Auction Based Coordination" (2012). Dissertations. 16.
https://digital.library.ncat.edu/dissertations/16
