Asynchronous Decentralized Task Allocation for Dynamic Environments
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How_Asynchronous decentralized.pdf
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634.27 KB
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Author(s)
Johnson, Luke B.
Ponda, Sameera S.
Choi, Han-Lim
How, Jonathan P.
Date Issued
March 2011
Journal
Infotech@Aerospace 2011
Publisher
American Institute of Aeronautics and Astronautics
Citation
Johnson, Luke, Sameera Ponda, Han-Lim Choi, and Jonathan How. “Asynchronous Decentralized Task Allocation for Dynamic Environments.” In Infotech@Aerospace 2011, 29 - 31 March 2011, St. Louis, Missouri. American Institute of Aeronautics and Astronautics, 2011.
Version
Author's final manuscript
Abstract
This work builds on a decentralized task allocation algorithm for networked agents communicating through an asynchronous channel, by extending the Asynchronous Consensus-Based Bundle Algorithm (ACBBA) to account for more real time implementation issues resulting from a decentralized planner. This paper specfically talks to the comparisons between global and local convergence in asynchronous consensus algorithms. Also a feature called asynchronous replan is introduced to ACBBA's functionality that enables e ffcient updates to large changes in local situational awareness. A real-time software implementation using multiple agents communicating through the user datagram protocol (UDP) validates the proposed algorithm.
MIT Department
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike 3.0
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.2514/6.2011-1441
