Task Allocation Adaptable to Network Topology among Cooperative

Abstract

In multi-agent system, the underlying networks are dynamic and the network topologies may change in operation; individual agents are not identical and their capability levels are not equal. The cooperation of agents should adapt to the dynamics and heterogeneity in order to improve the performance and efficiency of the overall system. In this paper, we present two means based on brute-force search and heuristic search respectively to achieve an efficient task allocation adaptable to current network topology among cooperative heterogeneous agents. These two algorithms are validated in the following case studies and performance analysis.