An extension of the consensus-based bundle algorithm for group dependant tasks with equipment dependencies

Abstract

This paper addresses the problem of multi-agent, multi-task assignment with multiple agent requirements on tasks for unmanned aerial vehicles by presenting the Consensus Based Grouping Algorithm. The algorithm is an extension of the Consensus Based Bundle Algorithm that 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. © 2012 Springer-Verlag.