Partial Replanning for Decentralized Dynamic Task Allocation
Name
1806.04836.pdf
Description
Submitted version
Size
834.21 KB
Format
Unknown
Checksum (MD5)
89643af8e605065c3da5c93d52d5a3a9
Author(s)
Buckman, Noam
How, Jonathan P
Choi, Han-Lim
Date Issued
October 2018
Publisher
American Institute of Aeronautics and Astronautics (AIAA)
Citation
Buckman, Noam, How, Jonathan P. and Choi, Han-Lim. 2018. "Partial Replanning for Decentralized Dynamic Task Allocation."
Version
Original manuscript
Abstract
© 2019 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved. In time-sensitive and dynamic missions, multi-UAV teams must respond quickly to new information and objectives. This paper presents a dynamic decentralized task allocation algorithm for allocating new tasks that appear online during the solving of the task allocation problem. Our algorithm extends the Consensus-Based Bundle Algorithm (CBBA), a decentralized task allocation algorithm, allowing for the fast allocation of new tasks without a full reallocation of existing tasks. CBBA with Partial Replanning (CBBA-PR) enables the team to trade-off between convergence time and increased coordination by resetting a portion of their previous allocation at every round of bidding on tasks. By resetting the last tasks allocated by each agent, we are able to ensure the convergence of the team to a conflict-free solution. CBBA-PR can be further improved by reducing the team size involved in the replanning, further reducing the communication burden of the team and runtime of CBBA-PR. Finally, we validate the faster convergence and improved solution quality of CBBA-PR in multi-UAV simulations.
MIT Department
Massachusetts Institute of Technology. Laboratory for Information and Decision Systems
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.2514/6.2019-0915
