Distributed Multi-Robot Task Allocation for Emergency Handling

Esben Ostergaard, Maja J. Mataric and Gaurav S. Sukhatme

This paper describes a new prototype task for multi-robot coordination. It describes a set of experiments measuring the effects of individualism and opportunism in a physically implemented multi-robot system and introduces the use of sound at multiple frequencies to produce several local sense-able gradients in the environment. The system is described, and results from the experiments are presented showing that opportunism in the system gives a significant performance improvement. Our experiments also show the viability of sound for producing detectable local gradients in the environment.