A Consensus-Based Grouping Algorithm for Multi-agent Cooperative Task Allocation with Complex Requirements

Abstract

This paper looks at consensus algorithms for agent cooperation with unmanned aerial vehicles. The foundation is the consensus-based bundle algorithm, which is extended to allow multi-agent tasks requiring agents to cooperate in completing individual tasks. Inspiration is taken from the cognitive behaviours of eusocial animals for cooperation and improved assignments. Using the behaviours observed in bees and ants inspires decentralised algorithms for groups of agents to adapt to changing task demand. Further extensions are provided to improve task complexity handling by the agents with added equipment requirements and task dependencies. We address the problems of handling these challenges and improve the efficiency of the algorithm for these requirements, whilst decreasing the communication cost with a new data structure. The proposed algorithm converges to a conflict-free, feasible solution of which previous algorithms are unable to account for. Furthermore, the algorithm takes into account heterogeneous agents, deadlocking and a method to store assignments for a dynamical environment. Simulation results demonstrate reduced data usage and communication time to come to a consensus on multi-agent tasks.

A Mobile Agent Team Works based on Load-Balancing Middleware for Distributed Computing Systems

“…The agent is used in [30] to represents the node for load balancing process, and in [31] it is implemented to monitor and detect the congestion in the nodes, and [32] to perform the load assignment. Further, in [33] the agent is deployed to encapsulate the tasks that will be executed.…”

Agent‐based simulation framework and consensus algorithm for observing systems with adaptive modularity

“…For example, in Ref. , the CBBA algorithm is modified for handling multiple assignments of tasks to agents, thus allowing to form coalitions. However, it is not clear how the algorithm applies in scenarios with superadditivity, and the algorithm is not capable of giving solutions that include partially completed tasks.…”

“…, the teams appear to be predefined and, as in Ref. , superadditivity effects are not studied. Superadditive score structures assign scores to partially executed tasks.…”

Boolean Networks-Based Auction Algorithm for Task Assignment of Multiple UAVs

“…Thus, this approach may lead to an inefficient situation, where the member of the fleet will transfer a number of unnecessary data to each other. If that is not the case, although it can improve this inefficiency by introducing the consensus algorithm, decentralized approaches often require severe latency time to communicate [10]. More recently, auction algorithms based on market mechanism for TA are developed.…”