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Decentralized task allocation for heterogeneous teams with cooperation constraints

Author(s)
Choi, Han-Lim; Whitten, Andrew Koo; How, Jonathan P.
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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.
Date issued
2010-07
URI
http://hdl.handle.net/1721.1/58891
Department
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
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
Other identifiers
INSPEC Accession Number: 11509459
ISBN
978-1-4244-7426-4
ISSN
0743-1619

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