Decentralized task allocation for heterogeneous teams with cooperation constraints
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How_Decentralized task.pdf
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309.98 KB
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Checksum (MD5)
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Author(s)
Choi, Han-Lim
Whitten, Andrew Koo
How, Jonathan P.
Date Issued
July 2010
Journal
Proceedings of the American Control Conference, 2010
Publisher
Institute of Electrical and Electronics Engineers
Citation
Han-Lim Choi, A.K. Whitten, and J.P. How. “Decentralized task allocation for heterogeneous teams with cooperation constraints.” American Control Conference (ACC), 2010. 2010. 3057-3062. ©2010 IEEE.
Version
Final published version
Abstract
This paper presents decentralized methods for allocating heterogeneous tasks to a network of agents with different capabilities, when the rules of engagement dictate various cooperation constraints. The new methods are built upon the consensus-based bundle algorithm (CBBA), and the key extensions to the baseline CBBA are: (a) task decomposition and associated scoring modification to allow for soft-constrained cooperation preference, and (b) a decentralized task elimination protocol to ensure satisfaction of the hard-constrained cooperation requirements. The new extensions are shown to preserve the robust convergence property of the baseline CBBA, and numerical examples on a cooperative track & strike mission verify the performance improvement by these extended capabilities.
MIT Department
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
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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/xpls/abs_all.jsp?arnumber=5530496
