A dynamic-programming-styled algorithm for time-optimal multi-agent task assignment

Guang Yang, Vikram Kapila

Research output: Contribution to journalConference article

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 languageEnglish (US)
Pages (from-to)1959-1964
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
Volume2
StatePublished - 2001
Event40th IEEE Conference on Decision and Control (CDC) - Orlando, FL, United States
Duration: Dec 4 2001Dec 4 2001

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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