.png){kind=icon}
返回
A Distributed Auction Algorithm for Task Assignment With Robot Coalitions
.png){kind=icon}
PRE
AI
DOI：10.1109/TRO.2024.3475209.png)
.png){kind=icon}
原文求助.png){kind=icon}
分享.png){kind=icon}
收藏
摘要
En 中文
This study addresses the task assignment problem with robot coalitions, as encountered in practical scenarios, such as multiplayer reach-avoid games. Unlike the classical assignment problem where a single robot performs each task, the problem considered here involves tasks that require execution by a robot coalition consisting of two robots. This task assignment problem is a special instance of 3-set packing problem, which is known to be nondeterministic polynomial time (NP)-hard. We introduce the concept of $\epsilon$-coalition-competitive equilibrium ($\epsilon$-CCE) to characterize a kind of approximate solution that offers guaranteed performance. A distributed auction algorithm is developed to find an $\epsilon$-CCE within a finite number of iterations. In addition, several enhancements have been implemented to adapt the auction algorithm for practical applications where the task assignment problem may vary over time. Numerical simulations demonstrate that the distributed algorithm achieves satisfactory approximation quality.
Keyword:
Auction algorithm
competitive equilibrium (CE)
competitive equilibrium (CE)
reach-avoid games
reach-avoid games
robot coalitions
robot coalitions
task assignment
task assignment
task assignment
期刊
IF:
10.5
论文数:
3.3K
被引数:
2.8W
机构
引用论文
The Diagnostic Validity of Melancholic Major Depression in a Population-Based Sample of Female Twins
PREAI
分享收藏分享收藏
Decentralized route-planning for multi-vehicle teams to satisfy a subclass of linear temporal logic specifications.png)
AUTOMATICA
OAAI
AUTOMATICAIF5.9
OAAI分享收藏
查看更多内容