Consensus-Based Decentralized Auctions for Robust Task Allocation

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This paper addresses task allocation to coordinate a fleet of autonomous vehicles by presenting two decentralized algorithms: the consensus-based auction algorithm (CBAA) and its generalization to the multi-assignment problem, i.e., the consensus-based bundle algorithm (CBBA). These algorithms utilize a market-based decision strategy as the mechanism for decentralized task selection and use a consensus routine based on local communication as the conflict resolution mechanism to achieve agreement on the winning bid values. Under reasonable assumptions on the scoring scheme, both of the proposed algorithms are proven to guarantee convergence to a conflict-free assignment, and it is shown that the converged solutions exhibit provable worst-case performance. It is also demonstrated that CBAA and CBBA produce conflict-free feasible solutions that are robust to both inconsistencies in the situational awareness across the fleet and variations in the communication network topology. Numerical experiments confirm superior convergence properties and performance when compared with existing auction-based task-allocation algorithms.
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Issue Date
2009-08
Language
English
Article Type
Article; Proceedings Paper
Keywords

COMBINATORIAL AUCTIONS; MULTIROBOT COORDINATION; WINNER DETERMINATION; COOPERATIVE CONTROL; NETWORKS

Citation

IEEE TRANSACTIONS ON ROBOTICS, v.25, no.4, pp.912 - 926

ISSN
1552-3098
DOI
10.1109/TRO.2009.2022423
URI
http://hdl.handle.net/10203/19807
Appears in Collection
AE-Journal Papers(저널논문)
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