This paper considers the problem of assigning a set of tasks to a set of heterogeneous agents under the additional assumptions that some tasks must be necessarily allocated and therefore are critical for the assignment problem, and that each agent can execute a limited number of tasks. In order to solve this problem in a decentralized way (i.e., without any form of central supervision), we develop an extension of an algorithm proposed in the recent literature. After analyzing convergence and communication requirement of the algorithm, a set of numerical simulations is provided to confirm the effectiveness of the proposed approach. © 2013 Elsevier B.V. All rights reserved.
|Titolo:||Decentralized task allocation for surveillance systems with critical tasks|
|Data di pubblicazione:||2013|
|Digital Object Identifier (DOI):||http://dx.doi.org/10.1016/j.robot.2013.06.007|
|Appare nelle tipologie:||1.1 Articolo in rivista|