Geometric task decomposition in a multi-agent environment

Kaivan Kamali, Dan Ventura, Amulya Garga, Soundar R.T. Kumara

Research output: Contribution to journalReview article

2 Scopus citations

Abstract

Task decomposition in a multi-agent environment is often, performed online. This paper proposes a method for sub-task allocation that can be performed before the agents are deployed, reducing the need for communication among agents during their mission. The proposed method uses a Voronoi diagram to partition the task-space among team members and includes two phases: static and dynamic. Static decomposition (performed in simulation before the start of the mission) repeatedly partitions the task-space by generating random diagrams and measuring the efficacy of the corresponding sub-task allocation. If necessary, dynamic decomposition (performed in simulation after the start of a mission) modifies the. result, of a static decomposition (i.e., in case of resource limitations for some agents). Empirical results are reported for the problem of surveillance of an arbitrary region by a team of agents.

Original languageEnglish (US)
Pages (from-to)437-456
Number of pages20
JournalApplied Artificial Intelligence
Volume20
Issue number5
DOIs
StatePublished - Jun 1 2006

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence

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