A Cluster-Based Approach to Consensus Based Distributed Task Allocation

Smith, Darren; Wetherall, Jodie; Woodhead, Steve; Adekunle, A. A.

doi:10.1109/pdp.2014.87

Cited by 19 publications

(19 citation statements)

References 7 publications

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“…Combining this with an efficient transmission method for processed 3D map data, combined with task allocation [17], will enable autonomous drone-side self-navigation. …”

Section: Discussionmentioning

confidence: 99%

Investigation into the effects of transmission-channel fidelity loss in RGBD sensor data for SLAM

Wetherall

Taylor²,

Hurley-Smith

2015

2015 International Conference on Systems, Signals and Image Processing (IWSSIP)

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-Simultaneous Location and Mapping (SLAM) is computationally expensive, and requires high-fidelity sensor data. This paper investigates the effects of transmission channel fidelity loss in Red-Green-Blue-Depth (RGBD) sensor data. A mobile robotic platform developed for Explosive Ordinance Disposal (EOD) is used, with a highly constrained data and video link to a base station which computes a SLAM solution. Experiments were conducted offline, using well known data-sets with ground truth data, and their results have been compared to determine the effect of fidelity loss under various multiplexing approaches with a constrained transmission channel.

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“…Combining this with an efficient transmission method for processed 3D map data, combined with task allocation [17], will enable autonomous drone-side self-navigation. …”

Section: Discussionmentioning

confidence: 99%

Investigation into the effects of transmission-channel fidelity loss in RGBD sensor data for SLAM

Wetherall

Taylor²,

Hurley-Smith

2015

2015 International Conference on Systems, Signals and Image Processing (IWSSIP)

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“…Then, we run the simulations by varying the number of agents (10,12,15, and 18 agents) to allocate 60 tasks. Table 12 shows the results from the simulations for our mechanism and the RBTA algorithm.…”

Section: Comparison With Rbtamentioning

confidence: 99%

“…3,4 An important aspect considered in coordination problems is task allocation. 1,[5][6][7][8][9][10] There are several features that should be considered by a mechanism for allocating tasks to multiple agents in real-world scenarios such as considering their heterogeneity (different physical and computational capacities, eg, different sensors and types of mobility), the impact of individual variability to assign specific roles to individual robots, and the definition and allocation of different types of tasks.…”

Section: Introductionmentioning

confidence: 99%

Allocating structured tasks in heterogeneous agent teams

Baségio

Bordini

2018

Computational Intelligence

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Task allocation is an important aspect of multiagent coordination. However, there are many challenges in developing appropriate strategies for multiagent teams so that they operate efficiently. Real‐world scenarios such as flooding disasters usually require the use of heterogeneous robots and the execution of tasks with different structures and complexities. In this paper, we propose a decentralized task allocation mechanism considering different types of tasks for heterogeneous agent teams where agents play different roles and carry out tasks according to their own capabilities. We have run several experiments to evaluate the proposed mechanism. The results show that the proposed mechanism appears to scale well and provides near‐optimal allocations.

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“…In an autonomous MANET a means of allowing nodes to collaborate and avoid workload duplication is required. Consensus Based Bundle Algorithm (CBBA) [10] and it is clustered contemporary, CF-CBBA, are algorithms that provide such services [2]. Although these algorithms can provide the means for a MANET to perform complex task collaboratively and efficiently among their constituent nodes, they are not secure.…”

Section: 12mentioning

confidence: 99%

“…A key issue of such projects is the security of the communication required for interswarm communication. Autonomous systems require a large amount of communication to operate, before even considering any swarm-to-base communication requirements [2]. As a result, secure Mobile Ad hoc Network (MANET) communication has become a key topic for discussion, where autonomous activity is seen as desirable.…”

Section: Introductionmentioning

confidence: 99%

Securing Autonomous Networks through Virtual Closure

Hurley-Smith¹,

Wetherall²,

Adekunle³

2016

IJICR

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The increasing autonomy of Mobile Ad Hoc Networks (MANETs) has enabled a great many large-scale unguided missions, such as agricultural planning, conservation and similar surveying tasks. Commercial and military institutions have expressed great interest in such ventures, raising the question of security as the application of such systems in potentially hostile environments. Preventing theft, disruption or destruction of such MANETs through cyber-attacks has become a focus for many researchers as a result. Virtual Private Networks (VPNs) have been shown to enhance the security of Mobile Ad hoc Networks (MANETs). VPNs do not normally support broadcast communication, reducing their effectiveness in high-traffic MANETs which have many broadcast communication requirements. To support routing, broadcast updates and efficient MANET communication a Virtual Closed Network (VCN) architecture is proposed. By supporting private, secure communication in unicast, multicast and broadcast modes, VCNs provide an efficient alternative to VPNs when securing MANETs. Comparative analysis of the setup and security overheads of VCN and VPN approaches is provided between OpenVPN, IPsec, Virtual Private LAN Service (VPLS), and the proposed VCN solution: Security Using Pre-Existing Routing for MANETs (SUPERMAN).

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A Cluster-Based Approach to Consensus Based Distributed Task Allocation

Cited by 19 publications

References 7 publications

Investigation into the effects of transmission-channel fidelity loss in RGBD sensor data for SLAM

Investigation into the effects of transmission-channel fidelity loss in RGBD sensor data for SLAM

Allocating structured tasks in heterogeneous agent teams

Securing Autonomous Networks through Virtual Closure

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