Consensus-Based Bundle Algorithm-Based Task Allocation for Unmanned Vehicles in Dangerous Environment

This paper solves the distributed task allocation problem based on the danger-broadcast algorithm for unmanned vehicles with the Consensus-Based Bundle Algorithm (CBBA). By defining the dangerous region that is found by the flying unmanned vehicle, the traditional Consensus-Based Bundle Algorithm is extended with the danger broadcast, which is named as Danger-broadcast Consensus-Based Bundle Algorithm (DBCBBA). In the unknown task areas, the time discount and distance are used to describe the task's revenue function. Compared with the traditional CBBA, the proposed algorithm can be adopted to a real and complex environment, and more unmanned vehicles are saved by distributed danger-broadcast architecture. In the end, simulation experiments demonstrate the performance of the proposed algorithm for the unknown danger zone.