Decentralized Planning for Complex Missions with Dynamic Communication Constraints
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How_Decentralized planning.pdf
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1.21 MB
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Checksum (MD5)
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Author(s)
Ponda, Sameera S.
Redding, Josh
Choi, Han-Lim
How, Jonathan P.
Vavrina, Matt
Vian, John
Date Issued
July 2010
Journal
Proceedings of the American Control Conference, 2010
Publisher
Institute of Electrical and Electronics Engineers
Citation
Ponda, S. et al. “Decentralized planning for complex missions with dynamic communication constraints.” American Control Conference (ACC), 2010. 2010. 3998-4003. ©2010 IEEE.
Version
Final published version
Abstract
This paper extends the consensus-based bundle algorithm (CBBA), a distributed task allocation framework previously developed by the authors, to address complex missions for a team of heterogeneous agents in a dynamic environment. The extended algorithm proposes appropriate handling of time windows of validity for tasks, fuel costs of the vehicles, and heterogeneity in the agent capabilities, while preserving the robust convergence properties of the original algorithm. An architecture to facilitate real-time task replanning in a dynamic environment is also presented, along with methods to handle varying communication constraints and dynamic network topologies. Simulation results and experimental flight tests in an indoor test environment verify the proposed task planning methodology for complex missions.
MIT Department
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5531232&isnumber=5530425
