Multi-Robot Coordination — Allocation & Traffic

    1

    Coordinate several robots or drones: task allocation, collision-free multi-agent path finding, shared maps, failure recovery.

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    Multi-Robot Coordination — Allocation & Traffic

    Example session with this skill installed

    Design a task allocation and pathfinding strategy for a fleet of 5 warehouse robots picking orders from a grid layout. Include failure handling for low-battery scenarios.

    • Read your context and instructions
    • Compiled the multi-robot coordination

    I have designed a hybrid coordination architecture for your warehouse fleet. This system utilizes a centralized auction-based allocator for task distribution combined with prioritized Multi-Agent Path Finding (MAPF) to ensure collision-free movement in the grid layout.

    Warehouse Fleet Coordination Strategy

    ComponentImplementation Detail
    Allocation LogicSequential Single-Item Auction (SSIA). Robots bid based on distance-to-task + current battery penalty.
    PathfindingPrioritized Planning on a 4-connected grid. Higher priority given to robots with high-value picks or low battery.
    Conflict ResolutionWait-at-node for vertex conflicts; edge-swapping prohibited. Deadlock detection via timeout on stall sensors.
    Battery FailureIf battery < 15%, the agent broadcasts a 'task-drop' message, returns to charging, and the Task Manager re-auctions the pick.
    Comm ProtocolROS2 Pub/Sub with QoS 'Reliable'. Heartbeat signals sent every 100ms to the fleet manager.

    Pathfinding Configuration (YAML)

    mapf_config:
  algorithm: "prioritized_planning"
  grid_type: "4-connected"
  collision_buffer: 0.1 # meters
  replan_interval: 500 # ms
  battery_thresholds:
    warning: 20
    critical_return: 10
  deadlock_resolution:
    timeout: 5.0 # seconds before requesting new path

    Next steps

    1. Define the specific grid coordinates for the 'Charging Zone' to automate the low-battery return logic.
    2. Run a 50-robot simulation in a headless environment to measure the makespan under peak order load.
    3. Implement the heartbeat monitor on the centralized manager to trigger immediate re-allocation if a robot disconnects.

    Connects securely to your tools. The creator never sees your data.

    About this skill

    Many robots, no deadlocks: allocation, MAPF and shared maps.

    Coordinate several robots or drones working together - task allocation (auctions, Hungarian, CBBA), multi-agent path finding without collisions or deadlocks (CBS, priority planning, traffic rules), shared maps, communication over unreliable links, and swarm behaviours for civil missions (inspection, mapping, delivery, warehouses). Use when the user runs more than one robot/drone, needs them to share work, avoid each other, or recover when one fails.

    Includes an EXPERT.md reference (exact parameters, thresholds, failure diagnosis).

    Acceptable use: civil and commercial applications only. Any military, paramilitary or weapon-related use is prohibited, as stated in the skill itself.

    How to use

    Skills on Agensi run inside your AI agent. Copy the prompt, paste it into your agent, and it connects to Agensi and installs this skill for you. If a payment is needed, your agent shows it to you first.

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