Time-constrained multi-agent task scheduling based on prescribed performance control

Abstract

The problem of time-constrained multi-agent task scheduling and control synthesis is addressed. We assume the existence of a high level plan which consists of a sequence of cooperative tasks, each of which is associated with a deadline and several Quality-of-Service levels. By taking into account the reward and cost of satisfying each task, a novel scheduling problem is formulated and a path synthesis algorithm is proposed. Based on the obtained plan, a distributed hybrid control law is further designed for each agent. Under the condition that only a subset of the agents are aware of the high level plan, it is shown that the proposed controller guarantees the satisfaction of time constraints for each task. A simulation example is given to verify the theoretical results.

Time-Constrained Leader-Follower Multiagent Task Scheduling and Control Synthesis

“…This paper generalizes the preliminary conference results of [24] in four main directions. First, we propose a dynamic scheduling strategy for MAS whose goal is to complete a set of dynamically activated tasks.…”

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