Title :
A Distributed Algorithm for Proportional Task Allocation in Networks of Mobile Agents
Author :
Sayyaadi, Hassan ; Moarref, Miad
Author_Institution :
Dept. of Mech. Eng., Sharif Univ. of Technol., Tehran, Iran
Abstract :
In a proportional task allocation problem, it is desired for robotic agents to have equal duty to capability ratios. Here, this problem is addressed as a combination of deployment and consensus problems. Tasks occur in a convex region and each task is assigned to its nearest agent. Agents are deployed on this area in order to reach consensus over the value of their duty to capability ratio. A distributed, asynchronous, and scalable algorithm is presented for solving this problem in continuous time domain.
Keywords :
computational geometry; distributed algorithms; mobile agents; resource allocation; task analysis; Voronoi cells; capability ratios; consensus problem; convex region; deployment problem; distributed algorithm; proportional task allocation problem; robotic agents; Consensus; Voronoi partition; deployment; proportional task allocation;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.2010.2089653
