Decentralized task allocation for heterogeneous teams with cooperation constraints
Author(s)Choi, Han-Lim; Whitten, Andrew Koo; How, Jonathan P.
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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.
DepartmentMassachusetts Institute of Technology. Department of Aeronautics and Astronautics
Proceedings of the American Control Conference, 2010
Institute of Electrical and Electronics Engineers
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.
Final published version
INSPEC Accession Number: 11509459