Decentralized task allocation with coupled constraints in complex missions

Abstract

Abstract-This paper presents a decentralized algorithm that can create feasible assignments for a network of autonomous agents in the presence of coupled constraints. The coupled constraints are introduced to address complex mission characteristics that include assignment relationships, where the value of a task is conditioned on whether or not another task has been assigned, and temporal relationships, where the value of a task is conditioned on when it is performed relative to other tasks. The new algorithm is developed as an extension to the consensus-based bundle algorithm (CBBA), introducing the notion of pessimistic or optimistic bidding strategies and the relative timing constraints between tasks. This extension, called Coupled-constraint CBBA (CCBBA), is compared to the baseline in a complex mission simulation and is found to outperform the baseline, particularly for task-rich scenarios.

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

“…In Ref. , dependency and mutual exclusive constraints are represented by a dependency matrix , a square matrix where rows and columns represent subtasks and each cell describes the constraints between subtasks j and q . Dependency constraints are represented by a 1, mutual exclusive constraints are represented by a −1, and a 0 indicates no constraints.…”

“…Decentralized auction‐based greedy algorithms are interesting for satisfying the opportunistic resource allocation requirements of the Federated Satellite System concept. A well‐known decentralized auction‐based algorithm is the Coupled‐Constraint Consensus‐Based Bundle Algorithm (CCBBA) . The CCBBA is an upgrade of the Consensus‐Based Bundle Algorithm (CBBA), developed by Choi et al .…”

“…Apart from Ref. , several other extensions of the CBBA algorithm have been published lately. For example, in Ref.…”

UAV Cooperative Task Allocation with Communication Delays and Conflict Resolution

“…The work in [15], in particular, considers the assignment of tasks with assignment constraints and also with different types of temporal constraints. It address similar cases of temporal precedence as in the present paper; however, it is assumed in [15] that assigned tasks will be executed in that order. Due to external uncertainties, this may not be the case.…”

“…The CBBA has also been extended to consider coupled constraints [3], [15]. The work in [15], in particular, considers the assignment of tasks with assignment constraints and also with different types of temporal constraints.…”