Decentralized Task Allocation with Coupled Constraints in Complex Missions
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How_Decentralized task allocation.pdf
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296.03 KB
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Author(s)
Whitten, Andrew K.
Johnson, Luke B.
How, Jonathan P.
Choi, Han-Lim
Date Issued
June 2011
Journal
Proceedings of the 2011 American Control Conference (ACC)
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
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
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.
MIT Department
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
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Creative Commons Attribution-Noncommercial-Share Alike 3.0
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DOI of Published Version
http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5990917
