Evaluating Coupled Selection Equations for Dynamic Task Assignment Using a Behavior Framework

Lafrenz, Reinhard; Schreiber, Frank; Zweigle, Oliver; Schanz, Michael; Rajaie, Hamid; Käppeler, Uwe-Philipp; Levi, Paul; Starke, Jens

doi:10.1007/978-3-540-74764-2_19

Cited by 2 publications

(1 citation statement)

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“…Lafrenz et. al implemented CSEs to assign the roles of attacker, defender and goal-keeper among a team of soccer playing robots, by constructing utility and activation parameters [31]. In the realm of space engineering, Molnar developed CSEs as a method for assigning tasks to self-organising space colonies, in which various desirable characteristics of the method were demonstrated including automatic activation of spare agents, fault tolerance and its utility in distributed sensor networks [32].…”

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confidence: 99%

Self-organising satellite constellation in geostationary earth orbit

Mushet

Mingotti

Colombo

et al. 2015

IEEE Trans. Aerosp. Electron. Syst.

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This paper presents a novel solution to the problem of autonomous task allocation for a self-organizing satellite constellation in Earth orbit. The method allows satellites to cluster themselves above targets on the Earth's surface. This is achieved using Coupled Selection Equations (CSE) -a dynamical systems approach to combinatorial optimization whose solution tends asymptotically towards a Boolean matrix describing the pairings of satellites and targets which solves the relevant assignment problems. Satellite maneuvers are actuated by an Artificial Potential Field method which incorporates the CSE output. Three demonstrations of the method's efficacy are given -first with equal numbers of satellites and targets, then with a satellite surplus, including agent failures, and finally with a fractionated constellation.Finally, a large constellation of 100 satellites is simulated to demonstrate the utility of the method in future swarm mission scenarios. The method provides efficient solutions with quick convergence, is robust to satellite failures, and hence appears suitable for distributed, on-board autonomy.

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confidence: 99%