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Consensus-based decentralized auctions for robust task allocation (2009)
| Venue: | IEEE Transactions on Robotics |
| Citations: | 79 - 28 self |
BibTeX
@ARTICLE{Choi09consensus-baseddecentralized,
author = {Han-lim Choi and Luc Brunet and Jonathan P. How and Senior Member},
title = {Consensus-based decentralized auctions for robust task allocation},
journal = {IEEE Transactions on Robotics},
year = {2009}
}
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Abstract
Abstract—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. Index Terms—Distributed robot systems, networked robots, task allocation for multiple mobile robots. I.
Keyphrases
consensus-based decentralized auction robust task allocation task allocation robot system consensus routine multiple mobile robot consensus-based bundle algorithm networked robot converged solution situational awareness autonomous vehicle provable worst-case performance local communication index term conflict-free feasible solution bid value auction-based task-allocation algorithm superior convergence property multi-assignment problem consensus-based auction algorithm task selection conflict-free assignment conflict resolution mechanism communication network topology reasonable assumption numerical experiment scoring scheme market-based decision strategy decentralized algorithm
