Consensus-Based Bundle Algorithm Task-Allocation Problems The paper addresses task allocation to coordinate a fleet of autonomous vehicles by presenting two decentralized algorithms: the consensus-based auction
This paper addresses task assignment in the coordination of a fleet of unmanned vehicles by presenting two decentralized algorithms: consensus-based auction algorithm (CBAA) and its generalization to the multi-assignment problem, consensus-based bundle algorithm (CBBA). These algorithms utilize a market...
According to Choi et Al., the consensus-based auction algorithm (CBAA) is a single assignment strategy that makes use of both auction and consensus. The algorithm consists of iterations between two phases. The first phase of the algorithm is the auction process, while the second is a consensus...
tionandlocaloutdatedinformation;thealgorithmconvergenceisalsoprovedindynamicdecentralizednetworks.Underdifferent networktopologiesinthesimulation,CDACAisshowntobesuperioronconvergencespeedandspectrumefficiency. Keywords: distributed;consensus;auction;dynamic;channelassignment ...
In Section 4, we have elicited the methodology and represented it in the form of an algorithm. Section 5, incorporates a numerical example from the original problem for explaining the solution methodology. In the last section, we conclude our results and identify the technology selected. In the...
In a follow-up study, Dresner and Stone (2008) has included a first-come-first-serve algorithm in the method, where the intersection controller grants or rejects vehicle requests to proceed through the intersection at the moment they are received. As such, the decisions are made regardless of...
We modify the consensus-based auction algorithm (CBAA) so that it can dynamically reallocate tasks among autonomous vehicles that can flexibly find a path to reach multiple dynamic targets while avoiding unexpected obstacles and staying close as a group as possible simultaneously. We propose the core...
The CBBA algorithm is an auction algorithm based on contract network proposed by Choi [12]. The algorithm consists of two phases: (1) task selection and (2) conflict mediation. In the task selection phase, each agent tries to insert tasks into its own path set until all tasks are assigned...
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An effective hybrid consensus algorithm is constructed among bidders to reach consensus on the auction result with improved security and efficiency. Theoretical analysis shows that the proposed scheme ensures the properties of privacy preservation, incentive compatibility and collusion resistance. Exper...