Hierarchical task distribution for decentralized subsystem with centralized output

In this paper, we consider a decentralized task distribution problem. The problem is defined and analyzed in a hierarchical structure. At the low level, principle of optimality is applied in the paper to decide the individual optimal cost for each subsystem under the circumstance of the changing task, or the desired output. At the upper level, a coordinator, defined as the relegator in the paper, is designed to distribute this desired output into individual desired output for each subsystem. With hierarchical task distribution strategy presented in this paper, the individual desired output is specified by optimizing the total optimal cost of these subsystems. The hierarchical task distribution strategy is classified into passive task distribution strategy and active task distribution strategy based on when the relegator takes the action in the individual desired output. The effectiveness of the strategy will be shown.