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Asynchronous Decentralized Task Allocation for Dynamic Environments
| Content Provider | Semantic Scholar |
|---|---|
| Author | Johnson, Luke B. Ponda, Sameera S. Choi, Han-Lim How, Jonathan P. |
| Copyright Year | 2011 |
| Abstract | This work builds on a decentralized task allocation algorithm for networked agents communicating through an asynchronous channel, by extending the Asynchronous ConsensusBased Bundle Algorithm (ACBBA) to account for more real time implementation issues resulting from a decentralized planner. This paper specically talks to the comparisons between global and local convergence in asynchronous consensus algorithms. Also a feature called asynchronous replan is introduced to ACBBA’s functionality that enables ecient updates to large changes in local situational awareness. A real-time software implementation using multiple agents communicating through the user datagram protocol (UDP) validates the proposed algorithm. |
| File Format | PDF HTM / HTML |
| DOI | 10.2514/6.2011-1441 |
| Alternate Webpage(s) | https://dspace.mit.edu/bitstream/handle/1721.1/81434/How_Asynchronous%20decentralized.pdf;sequence=1 |
| Alternate Webpage(s) | http://dspace.mit.edu/openaccess-disseminate/1721.1/81434 |
| Alternate Webpage(s) | http://dspace.mit.edu/bitstream/handle/1721.1/81434/How_Asynchronous%20decentralized.pdf;sequence=1 |
| Alternate Webpage(s) | https://doi.org/10.2514/6.2011-1441 |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
