MURDOCH: Publish/Subscribe Task Allocation for Heterogeneous Agents

Abstract

In this paper, we describe a novel approach to the problem of dynamic task allocation among groups of heterogeneous agents. Specifically, we advocate the use of publish/subscribe messaging, a well-researched ([3]) and commercially proven ([4]) message brokering paradigm that is readily applicable to distributed control. We present Murdoch, an implemented publish-subscribe system, and explain how it can facilitate multi-robot coordination.