Avoid communication outages in decentralized planning
Name
How-2010-Avoid communication outages in decentralized planning.pdf
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521.81 KB
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Adobe PDF
Checksum (MD5)
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Author(s)
Ponda, Sameera S.
Huber, Olivier
Choi, Han-Lim
How, Jonathan P.
Date Issued
January 2011
Journal
IEEE Globecom 2010 Workshop on Wireless Networking for Unmanned Aerial Vehicles
Publisher
Institute of Electrical and Electronics Engineers
Citation
Ponda, Sameera et al. “Avoid communication outages in decentralized planning.” IEEE, 2010. 1756-1759. ©2010 IEEE.
Version
Final published version
Abstract
This paper proposes an extension to the Consensus-Based Bundle Algorithm (CBBA), a distributed task allocation framework previously developed at the Aerospace Control Laboratory (ACL), MIT, designed to address complex mission planning for a team of heterogeneous agents operating in a dynamic environment. A key assumption of CBBA involves having a connected network, a constraint which is not always feasible in realistic mission scenarios. In this paper, we present a mechanism that aims at preventing and repairing network disconnects. The dynamic network topology is predicted using available information within the planner and relay tasks are created to strengthen the connectivity of the network. By employing underutilized resources, the presented approach improves network connectivity without limiting the scope of the active agents thus improving mission performance.
MIT Department
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Terms of Use
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
https://doi.org/10.1109/GLOCOMW.2010.5700242
