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.
Cooperative Task Allocation for Unmanned Vehicles with Communication Delays and Conflict Resolution
Journal of Aerospace Information Systems ; 13 , 2 ; 1-13
2015-12-21
Conference paper , Article (Journal)
Electronic Resource
English
UAV Cooperative Task Allocation with Communication Delays and Conflict Resolution (AIAA 2013-4580)
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