Decentralized task allocation with coupled constraints in complex missions
Open Access
- 1 June 2011
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE) in Proceedings of the 2011 American Control Conference
- p. 1642-1649
- https://doi.org/10.1109/acc.2011.5990917
Abstract
This paper presents a decentralized algorithm that creates feasible assignments for a network of autonomous agents in the presence of coupled constraints. The coupled constraints address complex mission characteristics that include assignment relationships, where the value of a task is conditioned on whether or not another task has been assigned, and temporal relationships, where the value of a task is conditioned on when it is performed relative to other tasks. The new algorithm is developed as an extension to the Consensus-Based Bundle Algorithm (CBBA), introducing the notion of pessimistic or optimistic bidding strategies and the relative timing constraints between tasks. This extension, called Coupled-Constraint CBBA (CCBBA), is compared to the baseline in a complex mission simulation and is found to outperform the baseline, particularly for task-rich scenarios.Keywords
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