在分散规划中避免通信中断

Sameera S. Ponda, Olivier Huber, Han-Lim Choi, J. How
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引用次数: 0

摘要

本文提出了基于共识的束算法(CBBA)的扩展,CBBA是麻省理工学院航空航天控制实验室(ACL)先前开发的分布式任务分配框架,旨在解决在动态环境中运行的异构代理团队的复杂任务规划。CBBA的一个关键假设包括有一个连接的网络,这在现实任务场景中并不总是可行的约束。在本文中,我们提出了一种旨在防止和修复网络断开的机制。使用规划器中的可用信息预测动态网络拓扑,并创建中继任务以加强网络的连通性。通过利用未充分利用的资源,该方法在不限制活动主体范围的情况下提高了网络连通性,从而提高了任务性能。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Avoid communication outages in decentralized planning
This paper proposes an extension to the Consensus-Based Bundle Algorithm (CBBA), a distributed task allocation framework previously developed at the Aerospace Control Laboratory (ACL), MIT, designed to address complex mission planning for a team of heterogeneous agents operating in a dynamic environment. A key assumption of CBBA involves having a connected network, a constraint which is not always feasible in realistic mission scenarios. In this paper, we present a mechanism that aims at preventing and repairing network disconnects. The dynamic network topology is predicted using available information within the planner and relay tasks are created to strengthen the connectivity of the network. By employing underutilized resources, the presented approach improves network connectivity without limiting the scope of the active agents thus improving mission performance.
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