Decentralized allocation of tasks with delayed commencement

摘要

In this paper we propose an approach for flexible and decentralized task allocation based on a negotiation protocol and applicable in case of delayed commencement of tasks. Delayed task commencement arises when an agent has to make some e#ort in order to start the task, e.g. a robot first has to move towards the starting position of its task of moving a packet before the task can be performed.