.png){kind=icon}
返回
Consensus-Based Decentralized Auctions for Robust Task Allocation
.png){kind=icon}
OA
AI
DOI：10.1109/TRO.2009.2022423.png)
.png){kind=icon}
原文求助.png){kind=icon}
分享.png){kind=icon}
收藏
摘要
En 中文
This paper addresses task allocation to coordinate a fleet of autonomous vehicles by presenting two decentralized algorithms: the consensus-based auction algorithm (CBAA) and its generalization to the multi-assignment problem, i.e., the consensus-based bundle algorithm (CBBA). These algorithms utilize a market-based decision strategy as the mechanism for decentralized task selection and use a consensus routine based on local communication as the conflict resolution mechanism to achieve agreement on the winning bid values. Under reasonable assumptions on the scoring scheme, both of the proposed algorithms are proven to guarantee convergence to a conflict-free assignment, and it is shown that the converged solutions exhibit provable worst-case performance. It is also demonstrated that CBAA and CBBA produce conflict-free feasible solutions that are robust to both inconsistencies in the situational awareness across the fleet and variations in the communication network topology. Numerical experiments confirm superior convergence properties and performance when compared with existing auction-based task-allocation algorithms.
Keyword:
Distributed robot systems
networked robots
task allocation for multiple mobile robots
期刊
IF:
10.5
论文数:
3.3K
被引数:
2.8W
机构
暂无机构信息
引用论文
Syntheses and spectroscopic characteristics of bis-[dimethyl(aryl)silylmethyl]-platinum(II) and bis-[dimethyl(benzyl)-silylmethyl]platinum(II) complexes with diene-, nitrogen-, and phosphorus-donor ligands.png)
Polyhedron
PolyhedronIF0
PREAI
分享收藏分享收藏Prediction of the power generated by photovoltaic cells fixed on the roof of a moving passenger coach: A case study预测固定在移动客车屋顶上的光伏电池产生的功率: 案例研究Proceedings of the Institution of Mechanical Engineers, Part F: Journal of Rail and Rapid Transit
Proceedings of the Institution of Mechanical Engineers, Part F: Journal of Rail and Rapid TransitIF0
PREAI
分享收藏
查看更多内容