An Extension of the Consensus-Based Bundle Algorithm for Multi-agent Tasks with Task Based Requirements

This paper addresses the problem of multi-agent, multi-task assignment with multiple agent requirements on tasks for unmanned aerial vehicles by presenting the Consensus Based Grouping Algorithm. The algorithm is an extension of the Consensus Based Bundle Algorithm that converges to a conflict free, feasible solution of which previous algorithms are unable to account for. Furthermore the algorithm creates a framework to take into account task based requirements, deadlocking and a method to store assignments for a dynamical environment.