Grouping-based methods for decentralized task allocation in communication-contested environment = 통신을 고려한 환경에서의 그룹 기반 분산 임무 할당 알고리듬에 관한 연구

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Interest in unmanned systems has been steadily increasing since the study of unmanned systems began. In particular, continuous researches are being carried out to enable UAVs and unmanned robots to be used for various missions for commercial or military purposes. As the size and complexity of mission scenarios that can be applied to these applications are increasing, research on distributed task allocation algorithm, which is a key technology for utilizing multiple unmanned mobile vehicles, is also come into the spotlight. In this thesis, we consider the communication issues in the decentralized task allocation algorithm from the viewpoint of the algorithm side. The existing decentralized task allocation algorithm is analyzed and a modified task allocation algorithm is proposed by considering communication problems. Numerical simulations of the proposed algorithm are presented and the characteristics of the proposed algorithm are discussed, as well.
Advisors
Choi, Han Limresearcher최한림researcher
Description
한국과학기술원 :항공우주공학과,
Publisher
한국과학기술원
Issue Date
2018
Identifier
325007
Language
eng
Description

학위논문(박사) - 한국과학기술원 : 항공우주공학과, 2018.2,[vi, 79 p. :]

Keywords

decentralized task allocation algorithm▼aunmanned systems▼acommunication; CBBA; plan consensus; 임무 할당▼a다수 무인 시스템▼a통신 부하 감소▼a분산 임무 할당 알고리듬▼a계획 합의

URI
http://hdl.handle.net/10203/265429
Link
http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=734437&flag=dissertation
Appears in Collection
AE-Theses_Ph.D.(박사논문)
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