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Centralized Group Buying Approach for Multiple Cooperative Task Allocation

Gun-Hee Moon, Dong-Wan Yoo, Byung-Yoon Lee, Hae-In Lee, and Min-Jae Tahk
Korea Advanced Institute of Science and Technology, Aerospace Engineering, Daejeon, Korea
Abstract—This paper is about a centralized group buying task assignment algorithm (CGBA) for cooperative multiple task assignment, which are non-synergetic and hardly constrained on the minimum required number of agents to perform it. CGBA utilize greedy market strategy for each agent’s path decision, and gives an incentive to the task with a larger required number of agents. In the multi-cooperative task allocation, there is a distinguish problem that would cause infinite loop in mission, which is defined as cross deployment. To resolve this, a checking algorithm using before & after task list is also proposed. Numerical experiment confirms that the algorithm gives a suboptimal solution in polynomial time.

Index Terms—group buying, multi-agents, swarm robots, UAV task assignment

Cite: Gun-Hee Moon, Dong-Wan Yoo, Byung-Yoon Lee, Hae-In Lee, and Min-Jae Tahk, "Centralized Group Buying Approach for Multiple Cooperative Task Allocation," Jounal of Automation and Control Engineering, Vol. 3, No. 2, pp. 92-97, April, 2015. doi: 10.12720/joace.3.2.92-97
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