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Please use this identifier to cite or link to this item: https://dspace.lboro.ac.uk/2134/18840

Title: A novel distributed scheduling algorithm for time-critical multi-agent systems
Authors: Whitbrook, Amanda
Meng, Qinggang
Chung, Paul Wai Hing
Issue Date: 2015
Publisher: IEEE
Citation: WHITBROOK, A., MENG, Q. and CHUNG, P.W.H., 2015. A novel distributed scheduling algorithm for time-critical multi-agent systems. Presented at: 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, 28th Sept. to 2nd Oct. pp.6451-6488.
Abstract: This paper describes enhancements made to the distributed performance impact (PI) algorithm and presents the results of trials that show how the work advances the stateof- the-art in single-task, single-robot, time-extended, multiagent task assignment for time-critical missions. The improvement boosts performance by integrating the architecture with additional action selection methods that increase the exploratory properties of the algorithm (either soft max or ε-greedy task selection). It is demonstrated empirically that the average time taken to perform rescue tasks can reduce by up to 8% and solution of some problems that baseline PI cannot handle is enabled. Comparison with the consensusbased bundle algorithm (CBBA) also shows that both the baseline PI algorithm and the enhanced versions are superior. All test problems center around a team of heterogeneous, autonomous vehicles conducting rescue missions in a 3- dimensional environment, where a number of different tasks must be carried out in order to rescue a known number of victims that is always more than the number of available vehicles.
Description: Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Sponsor: This work was supported by EPSRC (grant number EP/J011525/1) with BAE Systems as the leading industrial partner.
Version: Accepted for publication
DOI: 10.1109/IROS.2015.7354299
URI: https://dspace.lboro.ac.uk/2134/18840
Publisher Link: http://dx.doi.org/10.1109/IROS.2015.7354299
Appears in Collections:Conference Papers and Presentations (Computer Science)

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