Decentralized Task Allocation with Coupled Constraints in Complex Missions
This paper presents a decentralized algorithm that creates feasible assignments for a network of autonomous agents in the presence of coupled constraints. The coupled constraints address complex mission characteristics that include assignment relationships, where the value of a task is conditioned o...
| Main Authors: | , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
| Published: |
Institute of Electrical and Electronics Engineers (IEEE)
2013
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| Online Access: | http://hdl.handle.net/1721.1/81459 https://orcid.org/0000-0001-8576-1930 https://orcid.org/0000-0001-6084-7287 |
| Summary: | This paper presents a decentralized algorithm that creates feasible assignments for a network of autonomous agents in the presence of coupled constraints. The coupled constraints address complex mission characteristics that include assignment relationships, where the value of a task is conditioned on whether or not another task has been assigned, and temporal relationships, where the value of a task is conditioned on when it is performed relative to other tasks. The new algorithm is developed as an extension to the Consensus-Based Bundle Algorithm (CBBA), introducing the notion of pessimistic or optimistic bidding strategies and the relative timing constraints between tasks. This extension, called Coupled-Constraint CBBA (CCBBA), is compared to the baseline in a complex mission simulation and is found to outperform the baseline, particularly for task-rich scenarios. |
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