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Any auction-based task allocation code for multi-robot system?

asked 2015-07-03 14:47:54 -0500

CarlosBiscuit gravatar image


I'm investigating task allocation using auction algorithms in multi-robot systems and was wondering if there are any existing packages, tools or code available that involves auction-based task allocation?

I currently have a single AR.Drone 2.0 that can track a single moving target using a system built in ROS Fuerte, using the ardrone_autonomy driver and a C++ project that uses openCV and openTLD. I'm trying to expand that to a multiple drone system that can track multiple targets, hence the requirement for task allocation.

Any help would be greatly appreciated.

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Have you found any ROS-based MRTA framework so far?

adrianohrl gravatar image adrianohrl  ( 2016-10-08 16:12:09 -0500 )edit

No. I had to give up on the project due to project deadlines. Wishing you better luck if you are looking for something similar.

CarlosBiscuit gravatar image CarlosBiscuit  ( 2016-11-05 05:12:31 -0500 )edit

I have plans to design a ROS based MRTA framework in my Masters dissertation. Thanks.

adrianohrl gravatar image adrianohrl  ( 2016-11-05 11:09:36 -0500 )edit

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answered 2016-02-17 07:26:35 -0500

joaoquintas gravatar image


maybe you could take a look at


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I had to give up on the project a while ago, due to project deadlines. Thanks for providing an answer though, much appreciated.

CarlosBiscuit gravatar image CarlosBiscuit  ( 2016-11-05 05:13:51 -0500 )edit

Unfortunately, there is nothing in this stack.

adrianohrl gravatar image adrianohrl  ( 2017-03-07 13:50:09 -0500 )edit

@adrianorhl: there appear to be 6 packages. Why do you say "there is nothing in this stack"? Google has just archived all the Google code projects. But the sources are still accessible: isr-uc-ros-pkg/source

gvdhoorn gravatar image gvdhoorn  ( 2017-03-07 14:08:13 -0500 )edit

Hello, @adrianohrl I noticed that something changed on the repository I stored the code. Tomorrow I'm planning to put it to github and update the documentation for the stack. Sorry for this inconvenience, and thanks for the heads-up!

joaoquintas gravatar image joaoquintas  ( 2017-03-07 17:30:52 -0500 )edit

@joaoquintas, is there any documentation of this stack? In addition, have you think about update this project to any catkin build version of ROS?

adrianohrl gravatar image adrianohrl  ( 2017-11-09 12:54:55 -0500 )edit

@adrianohrl, I'm currently adding some documentation to this stack. Following the link, you can find it. Also, I'm thinking of updating the project to the newer automation building tools, but I'll need some time to update this. Probably, during the next few months.

joaoquintas gravatar image joaoquintas  ( 2017-12-20 12:31:59 -0500 )edit

wrong link

adrianohrl gravatar image adrianohrl  ( 2017-12-21 07:59:20 -0500 )edit

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Asked: 2015-07-03 14:47:54 -0500

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Last updated: Feb 17 '16