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A Distributed Auction Algorithm for Task Assignment With Robot Coalitions
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AI
DOI：10.1109/TRO.2024.3475209.png)
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Abstract
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.
Keywords:
Auction algorithm
competitive equilibrium (CE)
competitive equilibrium (CE)
reach-avoid games
reach-avoid games
robot coalitions
robot coalitions
task assignment
task assignment
task assignment
Journal
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10.5
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