Asynchronous Weak-commitment Search for Solving Distributed Constraint Satisfaction Problems
CP '95 Proceedings of the First International Conference on Principles and Practice of Constraint Programming
Combinatorial Auctions: A Survey
INFORMS Journal on Computing
On multi-robot task allocation
On multi-robot task allocation
The Contract Net Protocol: High-Level Communication and Control in a Distributed Problem Solver
IEEE Transactions on Computers
Towards a Delegation Framework for Aerial Robotic Mission Scenarios
CIA '07 Proceedings of the 11th international workshop on Cooperative Information Agents XI
A temporal logic-based planning and execution monitoring framework for unmanned aircraft systems
Autonomous Agents and Multi-Agent Systems
Adopt: asynchronous distributed constraint optimization with quality guarantees
Artificial Intelligence - Special issue: Distributed constraint satisfaction
A distributed task specification language for mixed-initiative delegation
PRIMA'10 Proceedings of the 13th international conference on Principles and Practice of Multi-Agent Systems
A distributed task specification language for mixed-initiative delegation
PRIMA'10 Proceedings of the 13th international conference on Principles and Practice of Multi-Agent Systems
A task complexity assessment tool for single-operator multi-robot control scenarios
Proceedings of the 2013 international conference on Autonomous agents and multi-agent systems
Modeling and analysis of task complexity in single-operator multi-robot teams
Proceedings of the 2014 ACM/IEEE international conference on Human-robot interaction
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Unmanned aircraft systems (UAS's) are now becoming technologically mature enough to be integrated into civil society. An essential issue is principled mixed-initiative interaction between UAS's and human operators. Two central problems are to specify the structure and requirements of complex tasks and to assign platforms to these tasks. We have previously proposed Task Specification Trees (TST's) as a highly expressive specification language for complex multi-agent tasks that supports mixed-initiative delegation and adjustable autonomy. The main contribution of this paper is a sound and complete distributed heuristic search algorithm for allocating the individual tasks in a TST to platforms. The allocation also instantiates the parameters of the tasks such that all the constraints of the TST are satisfied. Constraints are used to model dependencies between tasks, resource usage as well as temporal and spatial requirements on complex tasks. Finally, we discuss a concrete case study with a team of unmanned aerial vehicles assisting in a challenging emergency situation.