Communication Censoring in Decentralized Fictitious Play for the Target Assignment Problem

Abstract

We consider a target assignment problem for a team of mobile autonomous agents. Agents utilize a wireless communication network subject to failures to determine which target each agent should cover. Being unaware of each others' locations and which targets they intend to cover, each agent has control over its mobility and communication in addition to which target they select. Given the setup, we propose a decentralized algorithm based on the distributed fictitious play algorithm in which agents reason about the selections to decide which target to select, whether to communicate or not, and where to move. Numerical experiments illustrate physical coverage of targets in finite time and the potential benefits of communication censoring.