Decentralized Planning for Complex Missions with Dynamic Communication Constraints

• Main Authors: Ponda, Sameera S. (Contributor), Redding, Josh (Contributor), Choi, Han-Lim (Contributor), How, Jonathan P. (Contributor), Vavrina, Matt (Author), Vian, John (Author)
• Other Authors: Massachusetts Institute of Technology. Department of Aeronautics and Astronautics (Contributor)
• Format: Article
• Language: English
• Published: Institute of Electrical and Electronics Engineers, 2010-10-06T14:20:21Z.
• Subjects: Article
• Online Access: Get fulltext

 This paper extends the consensus-based bundle algorithm (CBBA), a distributed task allocation framework previously developed by the authors, to address complex missions for a team of heterogeneous agents in a dynamic environment. The extended algorithm proposes appropriate handling of time windows of validity for tasks, fuel costs of the vehicles, and heterogeneity in the agent capabilities, while preserving the robust convergence properties of the original algorithm. An architecture to facilitate real-time task replanning in a dynamic environment is also presented, along with methods to handle varying communication constraints and dynamic network topologies. Simulation results and experimental flight tests in an indoor test environment verify the proposed task planning methodology for complex missions.