Introduction to algorithms
Generating random spanning trees more quickly than the cover time
STOC '96 Proceedings of the twenty-eighth annual ACM symposium on Theory of computing
Algorithm for optimal winner determination in combinatorial auctions
Artificial Intelligence
Iterative Combinatorial Auctions: Theory and Practice
Proceedings of the Seventeenth National Conference on Artificial Intelligence and Twelfth Conference on Innovative Applications of Artificial Intelligence
A Market Protocol for Decentralized Task Allocation
ICMAS '98 Proceedings of the 3rd International Conference on Multi Agent Systems
Integer Programming for Combinatorial Auction Winner Determination
ICMAS '00 Proceedings of the Fourth International Conference on MultiAgent Systems (ICMAS-2000)
An Improved Search Technique for Optimal Winner Determination in Combinatorial Auctions
HICSS '04 Proceedings of the Proceedings of the 37th Annual Hawaii International Conference on System Sciences (HICSS'04) - Track 3 - Volume 3
Combinatorial Auctions: A Survey
INFORMS Journal on Computing
On Heuristics for Solving Winner Determination Problem in Combinatorial Auctions
Journal of Heuristics
A New and Improved Design for Multiobject Iterative Auctions
Management Science
Auction-based multi-robot task allocation in COMSTAR
Proceedings of the 6th international joint conference on Autonomous agents and multiagent systems
IEEE Transactions on Information Theory
Centralized and distributed task allocation in multi-robot teams via a stochastic clustering auction
ACM Transactions on Autonomous and Adaptive Systems (TAAS)
Survey of advances in guidance, navigation, and control of unmanned rotorcraft systems
Journal of Field Robotics
On mobile target allocation with incomplete information in defensive environments
KES-AMSTA'12 Proceedings of the 6th KES international conference on Agent and Multi-Agent Systems: technologies and applications
Swarm-like Methodologies for Executing Tasks with Deadlines
Journal of Intelligent and Robotic Systems
Journal of Intelligent and Robotic Systems
ICONIP'12 Proceedings of the 19th international conference on Neural Information Processing - Volume Part IV
Decentralized multi-robot cooperation with auctioned POMDPs
International Journal of Robotics Research
Assessing operator strategies for real-time replanning of multiple unmanned vehicles
Intelligent Decision Technologies
Decentralized task allocation for surveillance systems with critical tasks
Robotics and Autonomous Systems
Robotic Urban Search and Rescue: A Survey from the Control Perspective
Journal of Intelligent and Robotic Systems
A Market-based Solution to the Multiple Traveling Salesmen Problem
Journal of Intelligent and Robotic Systems
Journal of Intelligent and Robotic Systems
Distributed Learning for Planning Under Uncertainty Problems with Heterogeneous Teams
Journal of Intelligent and Robotic Systems
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This paper addresses task allocation to coordinate a fleet of autonomous vehicles by presenting two decentralized algorithms: the consensus-based auction algorithm (CBAA) and its generalization to the multi-assignment problem, i.e., the consensus-based bundle algorithm (CBBA). These algorithms utilize a market-based decision strategy as the mechanism for decentralized task selection and use a consensus routine based on local communication as the conflict resolution mechanism to achieve agreement on the winning bid values. Under reasonable assumptions on the scoring scheme, both of the proposed algorithms are proven to guarantee convergence to a conflict-free assignment, and it is shown that the converged solutions exhibit provable worst-case performance. It is also demonstrated that CBAA and CBBA produce conflict-free feasible solutions that are robust to both inconsistencies in the situational awareness across the fleet and variations in the communication network topology. Numerical experiments confirm superior convergence properties and performance when compared with existing auction-based task-allocation algorithms.