Go ahead, make my day: Robot conflict resolution by aggressive competition

We examine a simulated but realistic multirobot transport task that su ers from spatial interference. Previously described techniques to reduce interference are not appropriate for this and related tasks. We demonstrate the utility of an aggressive competition to reduce interference and increase eÆciency in our system. A controller is described which breaks deadlocks in favour of the most `aggressive' robot. Simulation trials are performed to evaluate a variety of aggression functions. Our results and subsequent discussion suggest that neither a linear dominance hierarchy nor a simple sensor bias method o er any advantage over a random outcome. Finally we discuss some strategies that might favour the `correct' outcome of competitions to increase the eÆciency of the system. We are currently implementing these controllers on a real robot team.

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