A Bid-Based Grouping Method for Communication-Efficient Decentralized Multi-UAV Task Allocation

Cited 2 time in webofscience Cited 0 time in scopus
  • Hit : 29
  • Download : 0
This paper presents an extension to a decentralized multi-UAV task allocation algorithm, consensus-based bundle algorithm (CBBA), to improve the communication efficiency in the plan consensus process. The presented algorithm termed grouped consensus-based bundle algorithm (G-CBBA) provides a systematic way of grouping the UAVs based on their task preference represented by the initial guess created by the UAVs. G-CBBA features a nested iteration between two layers of plan consensus: local and global. The local stage aims at plan consensus over the list of tasks shared within a group, while the global stage ensures agreement across the entire network over the whole task set. The proposed two-layer scheme can improve the communication efficiency by reducing the need for propagating irrelevant bids while preserving robust convergence property of CBBA. Numerical experiments demonstrate reduction in the number of messages to be communicated without incurring substantial performance degradation compared to the baseline CBBA.
Publisher
SPRINGER
Issue Date
2020-03
Language
English
Article Type
Article
Citation

INTERNATIONAL JOURNAL OF AERONAUTICAL AND SPACE SCIENCES, v.21, no.1, pp.290 - 302

ISSN
2093-274X
DOI
10.1007/s42405-019-00205-1
URI
http://hdl.handle.net/10203/282081
Appears in Collection
AE-Journal Papers(저널논문)
Files in This Item
There are no files associated with this item.
This item is cited by other documents in WoS
⊙ Detail Information in WoSⓡ Click to see webofscience_button
⊙ Cited 2 items in WoS Click to see citing articles in records_button

qr_code

  • mendeley

    citeulike


rss_1.0 rss_2.0 atom_1.0