Distributed greedy algorithm for multi-agent task assignment problem with submodular utility functions

Automatica ◽  
2019 ◽  
Vol 105 ◽  
pp. 206-215 ◽  
Author(s):  
Guannan Qu ◽  
Dave Brown ◽  
Na Li
Keyword(s):  
Greedy Algorithm ◽  
Assignment Problem ◽  
Task Assignment ◽  
Utility Functions ◽  
Multi Agent ◽  
Task Assignment Problem

scholarly journals A Time-Efficient Co-Operative Path Planning Model Combined with Task Assignment for Multi-Agent Systems

Robotics ◽  
2019 ◽  
Vol 8 (2) ◽  
pp. 35 ◽  
Author(s):  
Sumana Biswas ◽  
Sreenatha G. Anavatti ◽  
Matthew A. Garratt
Keyword(s):  
Path Planning ◽  
Assignment Problem ◽  
Task Assignment ◽  
Computational Time ◽  
Search Model ◽  
Nearest Neighbour ◽  
Multi Agent Systems ◽  
Agent Systems ◽  
Multi Agent ◽  
Task Assignment Problem

Dealing with uncertainties along with high-efficiency planning for task assignment problem is still challenging, especially for multi-agent systems. In this paper, two frameworks—Compromise View model and the Nearest-Neighbour Search model—are analyzed and compared for co-operative path planning combined with task assignment of a multi-agent system in dynamic environments. Both frameworks are capable of dynamically controlling a number of autonomous agents to accomplish multiple tasks at different locations. Furthermore, these two models are capable of dealing with dynamically changing environments. In both approaches, the Particle Swarm Optimization-based method is applied for path planning. The path planning approach combined with the obstacle avoidance strategy is integrated with the task assignment problem. In one framework, the Compromise View model is used for completing the tasks and a combination of clustering method with the Nearest-Neighbour Search model is used to assign tasks to the other framework. The frameworks are compared in terms of computational time and the resulting path length. Results indicate that the Nearest-Neighbour Search model is much faster than the Compromise View model. However, the Nearest-Neighbour Search model generates longer paths to accomplish the mission. By following the Nearest-Neighbour Search approach, agents can successfully accomplish their mission, even under uncertainties such as malfunction of individual agents. The Nearest-Neighbour Search framework is highly effective due to its reactive structure. As per requirements, to save time, after completing its own tasks, one agent can complete the remaining tasks of other agents. The simulation results show that the Nearest-Neighbour Search model is an effective and robust way of solving co-operative path planning combined with task assignment problems.

Quadratic Convex Reformulation for Solving Task Assignment Problem with Continuous Hopfield Network

2021 ◽  
Author(s):  
Youssef Hami ◽  
Chakir Loqman
Keyword(s):  
Assignment Problem ◽  
Optimal Allocation ◽  
Task Assignment ◽  
Hopfield Network ◽  
Quadratic Program ◽  
Convex Objective Function ◽  
Calculation Results ◽  
Quadratic Convex Reformulation ◽  
Task Assignment Problem ◽  
Theoretical Results

This research is an optimal allocation of tasks to processors in order to minimize the total costs of execution and communication. This problem is called the Task Assignment Problem (TAP) with nonuniform communication costs. To solve the latter, the first step concerns the formulation of the problem by an equivalent zero-one quadratic program with a convex objective function using a convexification technique, based on the smallest eigenvalue. The second step concerns the application of the Continuous Hopfield Network (CHN) to solve the obtained problem. The calculation results are presented for the instances from the literature, compared to solutions obtained both the CPLEX solver and by the heuristic genetic algorithm, and show an improvement in the results obtained by applying only the CHN algorithm. We can see that the proposed approach evaluates the efficiency of the theoretical results and achieves the optimal solutions in a short calculation time.

scholarly journals Multi-UAV Rapid-Assessment Task-Assignment Problem in a Post-Earthquake Scenario

IEEE Access ◽  
2019 ◽  
Vol 7 ◽  
pp. 74542-74557 ◽  
Author(s):  
Moning Zhu ◽  
Xiaoxia Du ◽  
Xuehua Zhang ◽  
He Luo ◽  
Guoqiang Wang
Keyword(s):  
Assignment Problem ◽  
Rapid Assessment ◽  
Task Assignment ◽  
Earthquake Scenario ◽  
Assessment Task ◽  
Task Assignment Problem ◽  
Multi Uav
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