In this chapter, the consensus-based bundle algorithm (CBBA) is incorporated into a hierarchical concept of operation. In the team CBBA, agents are divided into teams and each team plans for its agents to service a set of tasks. This team planning is carried out in a distributed manner using the traditional CBBA. An “outer-loop” team CBBA strategy is presented that coordinates teams’ plans. The hierarchical structure of the team CBBA facilitates a manageable architecture for large numbers of unmanned agents through human-centered operations. This is because each team is managed by a human operator with the team CBBA aiding coordination between teams.
Multi-team Consensus Bundle Algorithm
Handbook of Unmanned Aerial Vehicles ; Kapitel : 17 ; 1491-1507
09.08.2014
17 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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