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检索条件"主题词=Auction algorithm"

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Multi-Robot Assignment algorithm for Tasks with Set Precedence Constraints

Multi-Robot Assignment Algorithm for Tasks with Set Preceden...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Luo, Lingzhi Chakraborty, Nilanjan Sycara, Katia Carnegie Mellon Univ Sch Comp Sci Inst Robot Pittsburgh PA 15213 USA

ISBN: (纸本)9781612843858

In this paper, we present task allocation (assignment) algorithms for a multi-robot system where the tasks are divided into disjoint groups and there are precedence constraints between the task groups. Existing auction-based algorithms assume the task independence and hence can not be used directly to solve the class of multi-robot task assignment problems that we consider. In our model, each robot can do a fixed number of tasks and obtains a benefit (or incurs a cost) for each task. The tasks are divided into groups and each robot can do only one task from each group. These constraints arise when the robots have to do a set of tasks that have precedence constraints and each task takes the same time to be completed. We extend the auction algorithm to provide an almost optimal solution to the task assignment problem with set precedence constraints (the theoretical guarantees are the same as that of the original auction algorithm for unconstrained tasks). In other words, we guarantee that we will get a solution within a factor of O(n(t)epsilon) of the optimal solution, where n(t) is the total number of tasks and e is a parameter that we choose. We first present our algorithm using a shared memory model and then indicate how consensus algorithms can be used to make the algorithm totally distributed.

关键词： algorithm design and analysis auction algorithm Distributed algorithms Greedy algorithms Multi-robot assignment Nickel Resource management Robot kinematics Task allocation

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Real-Time Task Reallocation for Large-scale UAV team in Dynamic environment 7

Real-Time Task Reallocation for Large-scale UAV team in Dyna...

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IEEE Chinese Guidance, Navigation and Control Conference (CGNCC)

作者： Yan, Fei Shao, Zhuang Zhou, Zhou Zhu, Xiaoping Northwestern Polytech Univ Natl Key Lab Special & Technol UAV Xian 710065 Peoples R China Northwestern Polytech Univ Coll Aeronaut Xian 710072 Peoples R China Northwestern Polytech Univ UAV Res Inst Xian 710065 Peoples R China

ISBN: (纸本)9781467383189

To solve the problem of cooperative task reallocation for large-scale unmanned aerial vehicle (UAV) team under complex dynamic environment, a method based on man in-loop consensus auction principle is proposed. Firstly, Delaunay diagram is used for environment modeling. Then, the shortest paths of UAVs to targets are obtained by using Warshall-Floyd algorithm, thus task allocation and path planning are decoupled. Finally, with man in-loop and consensus-based auction approach, the task reallocation under several sudden changes of environment is achieved. Simulation results show that, the proposed method can provide a feasible task reallocation in 1.2s for a large-scale UAV team, which proves the real-time performance of this method.

关键词： auction algorithm cooperative task allocation large-scale UAV team man in-loop

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A Multi-Sensor Data Association algorithm Based on Time Constraint

A Multi-Sensor Data Association Algorithm Based on Time Cons...

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International Conference on Mechatronics Engineering and Computing Technology (ICMECT)

作者： Ai Ya-Qin Tian Xi Nie Hong-Shan Liu Yu-Jun Nation Univ Def Technol Sch Elect Sci & Engn Changsha Hunan Peoples R China Acad Armored Forces Engn Informat Engn Coll Beijing Peoples R China

ISBN: (纸本)9783038351153

For the high real-time demands of multi-sensor target tracking system, a global optimum data association algorithm based on time constraint is presented. Firstly, the statistical distance between measurement and prediction center of the track is calculated. An optimal association model among all measurements and all tracks is founded. Then, an improved auction algorithm is proposed to solve the association model. Multi-time auction is conducted in the constrained time, and the optimal solution is obtained by comparing the value of objective function. Simulation shows that the proposed method has a perfect association performance in the constrained time.

关键词： Multi-sensor Data association Time constraint auction algorithm

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Simulation of a server of multi-agents's interactions inside a defined environment 4

Simulation of a server of multi-agents's interactions inside...

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4th International Conference on Intelligent Computing in Data Sciences (ICDS)

作者： Saber, Ikram Bendali, Wadie Bachtiri, Rachid El Boussetta, Mohammed Hammoumi, Karima El Cheddadi, Fatima EST USMBA TSI Lab CED STI FST Fes Morocco EST USMBA TSI Lab Fes Morocco USMBA Univ REPEER Grp LESSI Lab Fes Morocco USMBA Univ ESTF Fes Morocco USMBA Univ FSDM Fes Morocco FSTF TSI Lab Fes Morocco USMBA Univ Fes Morocco

ISBN: (纸本)9781728180847

Smart grids are one of the best solutions for the integration of different distributed energy sources (DES), load, and storage elements. However, optimizing and managing these systems is a big challenge because it is only done in a distributed way. One of the best methods of managing a smart grid is the use of artificial intelligence (AI), especially multi-agent systems (MAS) approaches. MASs present a comprise of two or more independent agents with some information to achieve a set target that is capable of achieving multiple real-time objectives easily. Several multi-agent approaches have been proposed these last years, This work constitutes a demonstration of one of those methods which is the contract net protocol (CNP). The CNP is a technique invented to solve communication problems in distributed networks. It was defined as a high-level protocol for communication among the nodes in distributed problem solver. We will use the extended version of the contract net protocol(ECNP) to optimize the movement of MASs inside a smart grid network. Our example of a smart grid will be a grid constituted from nodes, and each node is a location of a task or an agent. In the scenario each task it's given a target which is also a node inside the grid, and our main objective is that the agent or agents could contribute for each task, depending on their priority order and may allow it to reach its target, which is another node in the network far from its initial location, using the shortest way as possible. A first scenario is used that includes a certain number of tasks and agents, to demonstrate the efficiency and power of the ECNP (extended contract net protocol), and the role of MAS in distributed management of smart grids.

关键词： Microgrid Multi-agent systems Contract net protocol auction algorithm Event-triggered consensus Event-Based Sampling Schemes

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Research on Distributed TaskAllocation algorithm for Unmanned Aerial vehicles based on Consensus Theory 28

Research on Distributed TaskAllocation Algorithm for Unmanne...

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28th Chinese Control and Decision Conference

作者： Jin, Liang Flight Automat Control Res Inst Xian 710065 Shanxi Peoples R China

ISBN: (纸本)9781467397148

Research on distributed task allocation in multi-unmanned aerial vehicles with multi-tasks. The task is divided into three types: detection, attack and verification tasks. Expertise vector and entropy in information theory are uased to display the commanality and distances of ability on unmanned aerial vehicles and tasks. The relationships between the tasks are also considered. The model of the task allocation for UAVs is established. And the distributed auction algorithm using communication topology is developed to solve the task allocation problem optimally based on the consensus theory. Simulation results show the rationality of the model and the effectiveness of the proposed method.

关键词： unmanned aerial vehicles distributed task allocation auction algorithm consensus theory

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Tracking neural stem cells in time-lapse microscopy image sequences

Tracking neural stem cells in time-lapse microscopy image se...

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Medical Imaging 2005 Conference

作者： Althoff, K Degerman, J Gustavsson, T Chalmers Univ Technol Dept Signals & Syst S-41296 Gothenburg Sweden

ISBN: (纸本)0819457213

This paper describes all algorithm for tracking neural stem/progenitor cells in a time-lapse microscopy image sequence. The cells were segmented in a semiautomatic way using dynamic programming. Since the interesting cells were identified by fluorescent staining at the end of the sequence, the tracking was performed backwards. The number of detected cells varied throughout the sequel-ice: cells could appear or disappear at the image boundaries or at cell clusters, some cells split, and the segmentation was riot always correct. To solve this asymmetric assignment problem, a modified version of the auction algorithm by Bertsekas was used. The assignment weights were calculated based on distance. correlation and size between possible matching cells. Cell splits are of special interest. therefore tracks without a matching cell were divided into two groups: 1. Merging cells (splitting cells, moving forward in time) and 2. Non-merging cells. These groups were separated based oil difference in size of the involved cells. and difference in image intensity of the contour and interior of the possibly merged cell. The tracking algorithm was evaluated using a sequence consisting of 57 images, each image containing approximately 50 cells. The evaluation showed that 99% of the cell-to-cell associations were correct. Ill most cases, only one association per track was incorrect so in total 55 out of 78 different tracks in the sequence were tracked correctly. Further improvements will be to apply interleaved segmentation and tracking to produce a more reliable segmentation as well as better tracking results.

关键词： cell tracking image segmentation time-lapse microscopy auction algorithm neural stem cells

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Efficient methodology and robust infrastructure for assigning weapons to targets

Efficient methodology and robust infrastructure for assignin...

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International Conference on Modeling, Simulation and Visualization Methods/International Conference on algorithmic Mathematics and Computer Sciences

作者： Bogdanowicz, Z Coleman, N USA Armament R&D Ctr Picatinny Arsenal NJ USA

ISBN: (纸本)1932415343

In this paper we describe core infrastructure and methodology that is implemental in software for assigning weapons into targets. The objective is to design the core infrastructure in such a way that it would support assigning any set of weapons and weapon types into any set of targets and target types. In addition, we propose an efficient methodology to accomplish this task. At the heart of this methodology lies well known in the literature auction algorithm.

关键词： assignment problem auction algorithm infrastructure

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Data Association Method for Radar Network Based on Time Restraint

Data Association Method for Radar Network Based on Time Rest...

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International Conference on Mechatronics and Applied Mechanics (ICMAM 2011)

作者： Wang ShenShen Che WanFang Feng JinFu Wang FangNian Bai Yun AF Engn Univ Coll Engn Xian 710038 Peoples R China Key Lab Complex Aviat Syst Simulat Beijing 100076 Peoples R China Guilin Air Force Acad Guilin 541010 Peoples R China

ISBN: (纸本)9783037853801

Data association is one of the most important issues in multi-target tracking for radar network. In order to meet the high real-time requirement of the multi-target tracking system in the future, a data association method based on time restraint is presented. Firstly, the modified association probability matrix between the observations and tracks is calculated, and the optimal association model is established. Then, the time restraint based auction algorithm is proposed to solve the association issue. The design and flow of this algorithm is offered, and the simulation of the method is designed. Simulation results demonstrate that the proposed method has an ideal association performance in the restrained time.

关键词： Time restraint Radar network Data association auction algorithm

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Hierarchical Data-Driven Optimization Scheme Compatible with the Conception of Solid-State Power Substation for Real-time VPP Management

Hierarchical Data-Driven Optimization Scheme Compatible with...

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2023 IEEE International Conference on Energy Technologies for Future Grids, ETFG 2023

作者： Xiao, Chixin Jiang, Dechen Shu, Bin He, Maoxin Xiangtan University Computer Science Department Xiangtan China State Grid Economic and Technological Research Institute Co. LTD. Beijing China

ISBN: (纸本)9781665471640

This paper investigates a hierarchical stochastic optimization model (SO) for a virtual power plant (VPP) considering the availability of battery storage and plug-in electric vehicles (EV) in a VPP, the spot price and its prediction for maximizing revenue over the whole trading horizon. Unlike traditional routes, such a SO model is compatible with the conception of a solid-state power substation (SSPS) to extend instant optimal operation details to the downstream energy storage individuals and thus decrease the complex computational and communicational time cost into a reasonable time frame adapted to real-time decisions. Further, a discrete behaviour scheme is proposed to adapt the control of charging /discharging of the battery storages with the real-time spot price and its rolling prediction update, and an SSPS-based auction algorithm is proposed to coordinate the interplay between the VPP and the downstream battery population. The simulation results show the proposed method not only can manage the battery storage in a VPP to obtain the traditional revenue but also can be more effective and suitable to operate in real-time control. © 2023 IEEE.

关键词： auction algorithm battery storage discrete charging/discharging multi-period optimization SSPS

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OL-CBBA: An Online Task Allocation algorithm under Weak Communication Conditions 29

OL-CBBA: An Online Task Allocation Algorithm under Weak Comm...

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29th IEEE International Conference on Parallel and Distributed Systems, ICPADS 2023

作者： Li, Jun Huang, Wanrong Wu, Honglin Cai, Zhongxuan Zhang, Yongjun National University of Defense Technology Institute for Quantum Information State Key Laboratory of High Performance Computing College of Computer Science and Technology Changsha China

ISBN: (纸本)9798350330717

Multiple unmanned aerial vehicles (UAVs) and multiple tasks allocation problem is difficult to solve. Existing task allocation algorithms assume that the UAVs' position is static, and cannot assign tasks with the changing UAVs' position simultaneously during task execution. Those algorithms reduce the efficiency of task allocation. In this paper, we propose an online consensus-based bundle algorithm (OL-CBBA) under weak communication for dynamic task allocation. We consider the situation that the location information of UAVs will constantly change during the dynamic execution of tasks. The algorithm first improves the static CBBA to an online algorithm by updating the task marginal score in task path. Moreover, we specify a flag for the convergence of individual tasks, allowing UAVs to start executing tasks earlier. Extensive comparative experiments prove the highly consistent efficiency of OL-CBBA under weak communication conditions. Specifically, the proposed OL-CBBA attains up to 22% improvement compared with CBBA. © 2023 IEEE.

关键词： auction algorithm Decentralized System Dynamic Task Allocation Weak Communication

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