DocumentCode
1360539
Title
A Distributed Algorithm for Proportional Task Allocation in Networks of Mobile Agents
Author
Sayyaadi, Hassan ; Moarref, Miad
Author_Institution
Dept. of Mech. Eng., Sharif Univ. of Technol., Tehran, Iran
Volume
56
Issue
2
fYear
2011
Firstpage
405
Lastpage
410
Abstract
In a proportional task allocation problem, it is desired for robotic agents to have equal duty to capability ratios. Here, this problem is addressed as a combination of deployment and consensus problems. Tasks occur in a convex region and each task is assigned to its nearest agent. Agents are deployed on this area in order to reach consensus over the value of their duty to capability ratio. A distributed, asynchronous, and scalable algorithm is presented for solving this problem in continuous time domain.
Keywords
computational geometry; distributed algorithms; mobile agents; resource allocation; task analysis; Voronoi cells; capability ratios; consensus problem; convex region; deployment problem; distributed algorithm; proportional task allocation problem; robotic agents; Consensus; Voronoi partition; deployment; proportional task allocation;
fLanguage
English
Journal_Title
Automatic Control, IEEE Transactions on
Publisher
ieee
ISSN
0018-9286
Type
jour
DOI
10.1109/TAC.2010.2089653
Filename
5609192
Link To Document