Abstract:
This research presents a distributed chance-constrained task allocation framework that can be used to plan for multi-agent networked teams operating in stochastic and dyn...Show MoreMetadata
Abstract:
This research presents a distributed chance-constrained task allocation framework that can be used to plan for multi-agent networked teams operating in stochastic and dynamic environments. The algorithm employs an approximation strategy to convert centralized problem formulations into distributable sub-problems that can be solved by individual agents. A key component of the distributed approximation is a risk adjustment method that allocates individual agent risks based on a global risk threshold. The results show large improvements in distributed stochastic environments by explicitly accounting for uncertainty propagation during the task allocation process.
Published in: 2012 American Control Conference (ACC)
Date of Conference: 27-29 June 2012
Date Added to IEEE Xplore: 01 October 2012
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Department of Aeronautics and Astronautics, MIT, Cambridge, MA, USA
Department of Aeronautics and Astronautics, MIT, Cambridge, MA, USA
R. C. Maclaurin Professor of Aeronautics and Astronautics, MIT, Cambridge, MA, USA
Contents Department of Aeronautics and Astronautics, MIT, Cambridge, MA, USA
Department of Aeronautics and Astronautics, MIT, Cambridge, MA, USA
R. C. Maclaurin Professor of Aeronautics and Astronautics, MIT, Cambridge, MA, USA
