An extension of consensus-based auction algorithms for decentralized, time-constrained task assignment

This paper addresses the multi-target, multi-task assignment problem for unmanned vehicles by presenting the decentralized Extended Consensus-Based Bundle Algorithm (ECBBA). The algorithm converges to conflict-free feasible solutions; furthermore, the algorithm allows local “pop-up” targets to be added and re-converges to a solution without resolving the entire optimization. A method to limit the communication network around targets is introduced. Limiting the communication is shown, through simulation, to produce solutions commensurate with full communication (within 2%) with the added benefit of reduced communication across the network.