This paper presents a framework for multi-agent cooperative decision making under communication constraints. Piece-wise optimal decentralized allocation of tasks for a group of unmanned aerial vehicles is considered. Each vehicle estimates the position of all teammates in order to assign tasks based on these estimates, and it also implements event-based broadcasting strategies that allow the group of agents to use communication resources more efficiently. The agents implement a simple decentralized auction scheme in order to resolve possible conflicts. This framework is extended to re-plan assignments when a sequence of tasks is disrupted by wind disturbance. Further, the effects of wind disturbance are also included in the task assignment process by assuming a fixed steady wind value. The overall framework provides a robust and communication-efficient approach for decentralized task allocation in the presence of communication constraints and external uncertainties.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Cooperative Task Allocation for Unmanned Vehicles with Communication Delays and Conflict Resolution


    Beteiligte:
    Garcia, Eloy (Autor:in) / Casbeer, David W. (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    21.12.2015




    Medientyp :

    Aufsatz (Konferenz) , Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





    UAV Cooperative Task Allocation with Communication Delays and Conflict Resolution (AIAA 2013-4580)

    Garcia, E. / Casbeer, D. / American Institute of Aeronautics and Astronautics | British Library Conference Proceedings | 2013


    Cooperative Task Allocation for Heterogeneous Unmanned Delivery Vehicles

    Han, Honggui / Zhang, Yabin / Huang, Yanting | Springer Verlag | 2024