A dynamic task planning based on task subcontracting and dynamic re-decomposition

Dynamic task planning is composed of task decomposition, task coordination and dynamic processing which are interrelated and closely integrated in multi-agent system. With regards to the complexity of the tasks and timing constraints, a task planning combined weighted and/or tree and AOE-network is presented to achieve consistent planning coordination and conduct task planning. Considering the problems for the conflicts when agents carrying out tasks and the delay or interruption of the complex tasks caused by dynamic changes in complex dynamic environment, the conflict elimination coordination and dynamic adjustment coordination are proposed based on task subcontracting and dynamic re-decomposition. So that the total task can continue to maintain plan consistency and meet the dynamic real-time requirements in task planning. Simulation results demonstrate the feasibility and effectiveness of dynamic planning method.