Decentralized task allocation for heterogeneous teams with cooperation constraints
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...
| Main Authors: | , , |
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
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Institute of Electrical and Electronics Engineers
2010
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| Online Access: | http://hdl.handle.net/1721.1/58891 https://orcid.org/0000-0001-8576-1930 |
| _version_ | 1811086409636773888 |
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| author | Choi, Han-Lim Whitten, Andrew Koo How, Jonathan P. |
| author2 | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics |
| author_facet | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics Choi, Han-Lim Whitten, Andrew Koo How, Jonathan P. |
| author_sort | Choi, Han-Lim |
| collection | MIT |
| description | 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. |
| first_indexed | 2024-09-23T13:25:33Z |
| format | Article |
| id | mit-1721.1/58891 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T13:25:33Z |
| publishDate | 2010 |
| publisher | Institute of Electrical and Electronics Engineers |
| record_format | dspace |
| spelling | mit-1721.1/588912022-10-01T15:11:46Z Decentralized task allocation for heterogeneous teams with cooperation constraints Choi, Han-Lim Whitten, Andrew Koo How, Jonathan P. Massachusetts Institute of Technology. Department of Aeronautics and Astronautics How, Jonathan P. Choi, Han-Lim Whitten, Andrew Koo How, Jonathan P. 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. United States. Air Force Office of Scientific Research (grant FA9550-08-1-0086) United States. Office of Naval Research (STTR # N00014-08-C-0707) 2010-10-06T14:30:08Z 2010-10-06T14:30:08Z 2010-07 2010-06 Article http://purl.org/eprint/type/ConferencePaper 978-1-4244-7426-4 0743-1619 INSPEC Accession Number: 11509459 http://hdl.handle.net/1721.1/58891 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. https://orcid.org/0000-0001-8576-1930 en_US http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=5530496 Proceedings of the American Control Conference, 2010 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. application/pdf Institute of Electrical and Electronics Engineers IEEE |
| spellingShingle | Choi, Han-Lim Whitten, Andrew Koo How, Jonathan P. Decentralized task allocation for heterogeneous teams with cooperation constraints |
| title | Decentralized task allocation for heterogeneous teams with cooperation constraints |
| title_full | Decentralized task allocation for heterogeneous teams with cooperation constraints |
| title_fullStr | Decentralized task allocation for heterogeneous teams with cooperation constraints |
| title_full_unstemmed | Decentralized task allocation for heterogeneous teams with cooperation constraints |
| title_short | Decentralized task allocation for heterogeneous teams with cooperation constraints |
| title_sort | decentralized task allocation for heterogeneous teams with cooperation constraints |
| url | http://hdl.handle.net/1721.1/58891 https://orcid.org/0000-0001-8576-1930 |
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