Request A Helper

Once an obstacle is found, it is necessary to call an agent to help remove it.

For this, the agent who encountered the obstacle sends his position to all the other agents.

They respond with the amount of effort they will need to move to the location.

The effort is calculated by the distance between the agents.

It is then chosen the agent with the least effort and communicates with him, asking to confirm the affectation.

If it is refused, because the agent has been affected by another request for help in the meantime, the agent repeats the process from the outset.

All this communication follows the fipa-contractnet protocol.