This study addresses the task assignment problem with robot coalitions, as encountered in practical scenarios, such as multiplayer reach-avoid games. Unlike the classical assignment problem where a single robot perfor...
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This study addresses the task assignment problem with robot coalitions, as encountered in practical scenarios, such as multiplayer reach-avoid games. Unlike the classical assignment problem where a single robot performs each task, the problem considered here involves tasks that require execution by a robot coalition consisting of two robots. This task assignment problem is a special instance of 3-set packing problem, which is known to be nondeterministic polynomial time (NP)-hard. We introduce the concept of $\epsilon$-coalition-competitive equilibrium ($\epsilon$-CCE) to characterize a kind of approximate solution that offers guaranteed performance. A distributed auction algorithm is developed to find an $\epsilon$-CCE within a finite number of iterations. In addition, several enhancements have been implemented to adapt the auction algorithm for practical applications where the task assignment problem may vary over time. Numerical simulations demonstrate that the distributed algorithm achieves satisfactory approximation quality.
In this paper, a fuzzy dual-hunting control based on auction algorithm is proposed. Relying on a single containment gives the small target the possibility of escape. Therefore, we design a dual-hunting framework for m...
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In this paper, a fuzzy dual-hunting control based on auction algorithm is proposed. Relying on a single containment gives the small target the possibility of escape. Therefore, we design a dual-hunting framework for multiagent systems to hunt a small target. A hunting formation with double containment is designed to reduce the possibility of the target escaping. Then, an auction algorithm is designed to generate the desired formation and rationally plan the positions of the agents in the hunting formation. To improve the applicability of the dual-hunting framework, we take high-order multiagent systems as the research object, and the fuzzy logic system (FLS) is introduced to approximate the unknown nonlinear dynamics (UND) due to higher-order system model errors and environmental disturbances. Based on FLS and backstepping method, a hunting controller for high-order systems is designed, which enables multiagent systems to track targets and form hunting formations. Furthermore, the Lyapunov function is designed to prove the stability of the controller. Finally, the effectiveness of the proposed method is demonstrated by simulating a multiagent system containing 12 intelligences hunting for a dynamic target.
In order to solve the problem of rapid construction of the time-sensitive target kill chain, aiming at the requirements of agility and accuracy of the kill chain, the time-sensitive target value index system is propos...
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ISBN:
(数字)9798350354621
ISBN:
(纸本)9798350354638;9798350354621
In order to solve the problem of rapid construction of the time-sensitive target kill chain, aiming at the requirements of agility and accuracy of the kill chain, the time-sensitive target value index system is proposed, and the workflow of the time-sensitive target kill chain is introduced. Combined with the auction algorithm, the improvement process based on the time-sensitive target value system is designed. The comprehensive sorting of the allocation order based on the combined kill chain is designed to derive the value sorting method of each time-sensitive target, and the feasibility and effectiveness of the method is surfaced through examples.
We consider the problem of finding a low-cost allocation and ordering of tasks between a team of robots in a d-dimensional, uncertain, landscape, and the sensitivity of this solution to changes in the cost *** algorit...
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We consider the problem of finding a low-cost allocation and ordering of tasks between a team of robots in a d-dimensional, uncertain, landscape, and the sensitivity of this solution to changes in the cost *** algorithms have been shown to give a 2-approximation to the MIN$UM allocation problem. By analysing such an auction algorithm, we obtain intervals on each cost, such that any fluctuation of the costs within these intervals will result in the auction algorithm outputting the same solution.& COPY;2023 Published by Elsevier Ltd.
The auction algorithm has been widely used to solve problems in several areas. One important characteristic of this algorithm is that its distributive nature simplifies the adoption of parallel implementations. With i...
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ISBN:
(纸本)9783031042096;9783031042089
The auction algorithm has been widely used to solve problems in several areas. One important characteristic of this algorithm is that its distributive nature simplifies the adoption of parallel implementations. With its various processing cores and 512-bit vectorized instructions, many-core and multicore machines have the potential to considerably increase the performance of this algorithm. The aim of this work is to efficiently execute the auction algorithm in these architectures. The main contributions of this work are: proposal and implementation of a scalable vectorized version for AVX-512 instructions;detailed evaluation of vectorized and parallel versions. Results show that vectorization in conjunction with parallelism is capable of harnessing the full potential of many-core and multicore machines. Moreover, the best scalability of a many-core processor, allowed over 750-fold speedup when comparing the proposed parallel vectorized version against the original sequential one.
We consider the Arrow-Debreu exchange market model under the assumption that the agents' demands satisfy the weak gross substitutes (WGS) property. We present a simple auction algorithm that obtains an approximate...
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We consider the Arrow-Debreu exchange market model under the assumption that the agents' demands satisfy the weak gross substitutes (WGS) property. We present a simple auction algorithm that obtains an approximate market equilibrium for WGS demands assuming the availability of a price update oracle. We exhibit specific implementations of such an oracle for WGS demands with bounded price elasticities and for Gale demand systems.
Multi-robot task detection and task execution is an important direction that people have considered recently. We have considered the dynamic issues related to the detection and execution tasks of multiple robots. This...
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ISBN:
(纸本)9781665435765
Multi-robot task detection and task execution is an important direction that people have considered recently. We have considered the dynamic issues related to the detection and execution tasks of multiple robots. This paper presents an improved auction algorithm to solve this problem and combines it with the auction algorithm by optimizing the execution capacity utilization and load balancing of the robot. By designing a new auction cost function, the execution ability and load balancing of the robot are added to the auction algorithm, and the matching of the execution ability and task difficulty is added to the assignment of task execution. In addition, we also add a task sequence adjustment mechanism to avoid the redundant loss of the robot due to a lack of global consideration during a single auction. We compare the algorithm with SSI and CBBA. The experimental results show that this method is superior to the existing methods of performance utilization and load balancing.
The auction algorithm is a widely used method for task assignments. However, most existing auction algorithms yield poor performance when applied to multi-UAVs dynamic task assignment. To end this, we propose a novel ...
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The auction algorithm is a widely used method for task assignments. However, most existing auction algorithms yield poor performance when applied to multi-UAVs dynamic task assignment. To end this, we propose a novel hybrid & x201C;Two-Stage & x201D;auction algorithm based on the hierarchical decision mechanism and an improved objective function, which simultaneously realizes heterogeneous multi-UAVs dynamic task assignment with limited resources of each UAV and avoidance obstacle path planning. In the first stage, according to the novel proposed hierarchical decision mechanism, we select a task that is urgently needed to be performed in the task group by using the decision function and three attribute values of tasks. After the first stage, it will result in a reasonable auction sequence, instead of random auction sequence as in previous algorithms. In the second stage, by considering the coverage factor and adaptive-limitation penalty term, a novel objective function is proposed and directs related UAVs for auction. In addition, we combine the structural advantages of the centralized and distributed auction algorithm, which greatly promotes its performance in dynamic task assignment. The experimental results demonstrate that the proposed method outperforms many state-of-the-art models in efficiency and robustness.
The great demand for mobile blockchain computing power is often unsatisfied by terminal devices, so computational tasks are offloaded to edge computing servers. This paper proposes a new mobile communication blockchai...
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The great demand for mobile blockchain computing power is often unsatisfied by terminal devices, so computational tasks are offloaded to edge computing servers. This paper proposes a new mobile communication blockchain assumption, forms a computing power alliance (CPA), and builds a smart contract-based security model. First, mining difficulty compensates for the personal computing power outside the CPA to increase the block generation difficulty. Second, contract account funds are used to increase the cost of malicious nodes seeking to launch forking attacks, and the duration is used to limit mining. Finally, a court trial is opened to select validators to verify the fork. The auction algorithm is used to allocate computing power in the CPA, and a price utility function is constructed to maximize social welfare. The joint optimization algorithm increases the transaction price and improves the system security. Simulation results verify that the system security increases with the blocked funds and duration, and the forking attack success rate approaches zero as the number of validators increases. The proposed algorithm provides considerable sum utility and average revenue gains versus traditional methods under different numbers of mobile users and computational capabilities, and the security of the algorithm is also higher.
Multi-robot task detection and task execution is an important direction that people have considered *** have considered the dynamic issues related to the detection and execution tasks of multiple *** paper presents an...
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Multi-robot task detection and task execution is an important direction that people have considered *** have considered the dynamic issues related to the detection and execution tasks of multiple *** paper presents an improved auction algorithm to solve this problem and combines it with the auction algorithm by optimizing the execution capacity utilization and load balancing of the *** designing a new auction cost function,the execution ability and load balancing of the robot are added to the auction algorithm,and the matching of the execution ability and task difficulty is added to the assignment of task *** addition,we also add a task sequence adjustment mechanism to avoid the redundant loss of the robot due to a lack of global consideration during a single *** compare the algorithm with SSI and *** experimental results show that this method is superior to the existing methods of performance utilization and load balancing.
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