This paper presents a framework for multi-agent cooperative decision making under communication constraints with conflict resolution and adaptive decision re-planning. Piece-wise optimal decentralized allocation of tasks for a group of unmanned aerial vehicles (UAVs) is considered. In this paper each UAV estimates the position of all other UAVs in order to assign tasks based on these estimates. Each UAV also implements asynchronous information broadcasting strategies based on events that allow the group of agents to use communication resources more efficiently. The agents implement a simple decentralized auction scheme in order to resolve possible conflicts. This framework is extended to re-plan assignments when a sequence of tasks is disrupted by wind disturbance. The overall framework provides a robust and communication efficient approach for decentralized task allocation in the presence of communication constraints and external uncertainties.
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