You're right that it's similar to a Vickrey auction in that the 2nd highest bid (in the 2-player case) is used as the price
It's very much a first-price auction; here, you're minimizing loss instead of maximizing gain. If you add a third person who bids $10 to pick up the kids, that person does it (because they're the lowest-cost option).
The good is jointly owned
Actually, wouldn't it make sense to only pay the winner 1/n of their bid (from each other participant)? In the case of picking up the kids, the union has received a negative windfall, and is attempting to price it. The cheapest solution is $15, so the cost is $15- which is then borne entirely by one party!
Now, this is assuming that people are pricing their bids at indifference ($15 completely compensates for having to pick up the kids), which may not be the case. You could try to equate B's regret at paying D's price and D's dissatisfaction with having to perform the task, but this seems silly compared to pricing indifference.
Alternatively, rather than trying to allocate the windfall equitably (which leaves both parties worse off by the same amount, but with different levels of surplus), you could try to equalize surplus- which would be B paying D $42.50. I think this makes the incentives inside the bidding stronger, but makes the incentives on when to bid more troublesome, because this encourages you to yootle when the other person has a lot at stake.
I'm impressed! That's kind of the conclusion we gradually came to as well, after a lot of trial and error. Better to not have people feel like their desperation is being capitalized on.
Another way to put it: when you're really desperate to win a particular auction it's really nice to be able to just say so honestly, with a crazy high bid. Trying to allocate the surplus equitably means that I have to carefully strategize on understating my desperation. (And worst of all, a mistake means a highly inefficient outcome!)
PS: To be clear about first-price vs seco...
After moving in with my new roomies (Danny and Bethany of Beeminder), I discovered they have a fair and useful way of auctioning off joint decisions. It helps you figure out how much you value certain chores or activities, and it guarantees that these decisions are worked out in a fair way. They call it "yootling", and wrote more about it here.
A quick example (Note: this only works if all participants are of the types of people who consider this sort of thing a Good Idea, and not A Grotesque Parody of Caring or whatnot):
Use Case: Who Picks up the Kids from Grandma's?
D and B are both busy working, but it's time to pick up the kids from their grandparents house. They decide to yootle for it.
B bids $100 (In a regular Normal Person exchange, this would be like saying "I'm elbows deep in code right now, and don't want to break flow. I'd really rather continue working right now, but of course I'll go if it's needed.")
D bids $15 (In a regular Normal Person exchange this would be like saying "I don't mind too much, though I do have other things to do now...")
So D "wins" the bid, and B pays him $15 to go get the kids from their grandma's.
Of course.... it would be a pain in the butt to constantly be paying each other, so instead they have a 10% chance of paying 10x the amount, and a 90% chance to pay nothing, using a random number generator.
This is made easier by the fact that we have a bot to run this, but before that they would use the high-tech solution of Holding Up Fingers.