Abstract
Cooperative control of multiple agents is an area of intense current research activity. Many practical applications of multi-agent control frequently necessitate assignment of tasks among agents such that the overall mission goals are accomplished in a minimal amount of time. In this paper, we use a dynamic programming formulation to address a class of time-optimal multi-agent task assignment problems. Based on the recurrence relation obtained from the celebrated principle of optimality, we develop an algorithm with a distributed computational architecture for the global time-optimal task assignment. In addition, we propose a communication protocol to facilitate distributed decision making among agents. Illustrative studies are included to demonstrate the efficacy of the proposed time-optimal multi-agent task assignment algorithm.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 1959-1964 |
| Number of pages | 6 |
| Journal | Proceedings of the IEEE Conference on Decision and Control |
| Volume | 2 |
| State | Published - 2001 |
| Event | 40th IEEE Conference on Decision and Control (CDC) - Orlando, FL, United States Duration: Dec 4 2001 → Dec 4 2001 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Modeling and Simulation
- Control and Optimization