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

fYear

2014

Firstpage

1479

Lastpage

1483

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Automation Robotics & Vision (ICARCV), 2014 13th International Conference on

Type

conf

DOI

10.1109/ICARCV.2014.7064534

Filename

7064534