Title :
A decentralized task allocation approach for cooperative transportation missions
Author :
Keum-Seong Kim ; Han-Lim Choi
Author_Institution :
Aerosp. Eng. Dept., Korea Adv. Inst. of Sci. & Technol., Daejeon, South Korea
Abstract :
This paper presents modified formulations of coupled-constraints consensus based bundle algorithm to resolve the cooperative transportation problem. Formulation frameworks for a cooperative transportation mission are suggested. Suggested frameworks are deal with various types of constraints and characteristics of cooperative transportation mission. In this paper, several modifications on reward function and arrival time calculation are suggested to handle the constraints of cooperative transportation mission.
Keywords :
autonomous aerial vehicles; constraint handling; decentralised control; multi-robot systems; resource allocation; aerospace engineering area; arrival time calculation; constraint handling; cooperative transportation missions; coupled-constraints consensus based bundle algorithm; decentralized task allocation approach; reward function; unmanned systems; Aerospace engineering; Algorithm design and analysis; Resource management; Sensors; Simulation; Time factors; Transportation; Task assignment; cooperative transportation; coupled-constraints cbba;
Conference_Titel :
Control Automation Robotics & Vision (ICARCV), 2014 13th International Conference on
DOI :
10.1109/ICARCV.2014.7064534
