Allowing non-submodular score functions in distributed task allocation
Author(s)Choi, Han-Lim; How, Jonathan P.; Johnson, Luke B.; Ponda, Sameera S.
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Submodularity is a powerful property that can be exploited for provable performance and convergence guarantees in distributed task allocation algorithms. However, some mission scenarios cannot easily be approximated as submodular a priori. This paper introduces an algorithmic extension for distributed multi-agent multi-task assignment algorithms which provides guaranteed convergence using non-submodular score functions. This algorithm utilizes non-submodular ranking of tasks within each agent's internal decision making process, while externally enforcing that shared bids appear as if they were created using submodular score functions. Provided proofs demonstrate that all convergence and performance guarantees hold with respect to this apparent submodular score function. The algorithm allows significant improvements over heuristic approaches that approximate truly non-submodular score functions.
DepartmentMassachusetts Institute of Technology. Department of Aeronautics and Astronautics
Proceedings of the 2012 IEEE 51st IEEE Conference on Decision and Control (CDC)
Institute of Electrical and Electronics Engineers (IEEE)
Johnson, Luke, Han-Lim Choi, Sameera Ponda, and Jonathan P. How. “Allowing non-submodular score functions in distributed task allocation.” In 2012 IEEE 51st IEEE Conference on Decision and Control (CDC), 4702-4708. Institute of Electrical and Electronics Engineers, 2012.
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