Department:Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Publisher:Institute of Electrical and Electronics Engineers (IEEE)
Date Issued:2011-06
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.
Citation:Whitten, Andrew K., Johnson, Luke B., How, Jonathan P., Choi, Han-Lim. 2011. "Decentralized Task Allocation with Coupled Constraints in Complex Missions." Paper presented at the IEEE Proceedings of the American Control Conference, July 29-July 1, 2011, San Francisco, CA.
Version:Author's final manuscript
Terms of Use:Creative Commons Attribution-Noncommercial-Share Alike 3.0