Improving the Effciency of a Decentralized Tasking Algorithm for UAV Teams with Asynchronous Communications
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How_Improving the efficiency.pdf
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Author(s)
Johnson, Luke B.
Ponda, Sameera S.
Choi, Han-lim
How, Jonathan P.
Date Issued
August 2010
Journal
Proceedings of the AIAA Guidance, Navigation, and Control Conference (2010)
Publisher
American Institute of Aeronautics and Astronautics
Citation
Luke Johnson, Sameera Ponda, Han-lim Choi, and Jonathan How. "Improving the Efficiency of a Decentralized Tasking Algorithm for UAV Teams with Asynchronous Communications" AIAA Guidance, Navigation, and Control Conference. August 2010.
Version
Author's final manuscript
Abstract
This work presents a decentralized task allocation algorithm for networked agents
communicating through an asynchronous channel. The algorithm extends the
Consensus-Based Bundle Algorithm (CBBA) to account for more realistic asyn-
chronous communication protocols. Direct implementation of CBBA into such
an asynchronous setting requires agents to frequently broadcast their information
states, which would cause signi cant communication over
ow. In contrast, the ex-
tension proposed in this paper, named Asynchronous CBBA (ACBBA), minimizes
communication load while preserving the convergence properties. ACBBA applies
a new set of local decon
iction rules that do not require access to the global in-
formation state. This new decon
iction protocol also features consistent handling
of out-of-order messages and detection of redundant information. A real-time soft-
ware implementation using multiple PCs communicating through the user datagram
protocol (UDP) validates the proposed algorithm.
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
https://doi.org/10.2514/6.2010-8421
