Decentralized task allocation for heterogeneous teams with cooperation constraints
This paper presents decentralized methods for allocating heterogeneous tasks to a network of agents with different capabilities, when the rules of engagement dictate various cooperation constraints. The new methods are built upon the consensus-based bundle algorithm (CBBA), and the key extensions to...
Main Authors: | , , |
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Other Authors: | |
Format: | Article |
Language: | English |
Published: |
Institute of Electrical and Electronics Engineers,
2010-10-06T14:30:08Z.
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Subjects: | |
Online Access: | Get fulltext |
Summary: | This paper presents decentralized methods for allocating heterogeneous tasks to a network of agents with different capabilities, when the rules of engagement dictate various cooperation constraints. The new methods are built upon the consensus-based bundle algorithm (CBBA), and the key extensions to the baseline CBBA are: (a) task decomposition and associated scoring modification to allow for soft-constrained cooperation preference, and (b) a decentralized task elimination protocol to ensure satisfaction of the hard-constrained cooperation requirements. The new extensions are shown to preserve the robust convergence property of the baseline CBBA, and numerical examples on a cooperative track & strike mission verify the performance improvement by these extended capabilities. United States. Air Force Office of Scientific Research (grant FA9550-08-1-0086) United States. Office of Naval Research (STTR # N00014-08-C-0707) |
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