Improving the Execution Time of a Path Negotiation Method Using a Task-based Utility Function

In recent years, the development and spread of autonomous mobile robots has progressed, and multi-agent systems that model and control these robots as agents have attracted attention. A specific example is automatic transport robots in a warehouse. However, when the number of agents is increased to handle a large number of transport tasks in such cases, there may be conflicts between agents, such as in the case of moving routes. When conflicts occur, processing becomes inefficient, so cooperation between agents is necessary. In previous research, it was successful in increasing the task success rate through agent negotiation, but the increase in execution time was a problem. The proposed method in this paper achieved a reduction in execution time while maintaining the task success rate of the previous research.