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A consensus-based grouping algorithm for multi-agent cooperative task allocation with complex requirements

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posted on 29.10.2014, 15:10 by Simon Hunt, Qinggang MengQinggang Meng, Chris J. Hinde, Tingwen Huang
This paper looks at consensus algorithms for agent cooperation with unmanned aerial vehicles. The foundation is the consensus-based bundle algorithm, which is extended to allow multi-agent tasks requiring agents to cooperate in completing individual tasks. Inspiration is taken from the cognitive behaviours of eusocial animals for cooperation and improved assignments. Using the behaviours observed in bees and ants inspires decentralised algorithms for groups of agents to adapt to changing task demand. Further extensions are provided to improve task complexity handling by the agents with added equipment requirements and task dependencies. We address the problems of handling these challenges and improve the efficiency of the algorithm for these requirements, whilst decreasing the communication cost with a new data structure. The proposed algorithm converges to a conflict-free, feasible solution of which previous algorithms are unable to account for. Furthermore, the algorithm takes into account heterogeneous agents, deadlocking and a method to store assignments for a dynamical environment. Simulation results demonstrate reduced data usage and communication time to come to a consensus on multi-agent tasks. © 2014 The Author(s).

Funding

EPSRC Grant EP/J011525/1; NPRP grant # NPRP 4-1162-1-181 from the Qatar National Research Fund (a member of Qatar Foundation).

History

School

  • Science

Department

  • Computer Science

Published in

Cognitive Computation

Volume

6

Issue

3

Pages

338 - 350

Citation

HUNT, S. ... et al., 2014. A consensus-based grouping algorithm for multi-agent cooperative task allocation with complex requirements. Cognitive Computation, 6 (3), pp. 338 - 350.

Publisher

© The Author(s) 2014. This article is published with open access at Springerlink.com

Version

VoR (Version of Record)

Publisher statement

This work is made available according to the conditions of the Creative Commons Attribution 3.0 Unported (CC BY 3.0) licence. Full details of this licence are available at: http://creativecommons.org/licenses/by/3.0/

Publication date

2014

Notes

This is an open access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

ISSN

1866-9956

eISSN

1866-9964

Language

en