The paper presents a preliminary application of a new methodology to the problem of task assignment, for a large number of unmanned vehicles operating in a cooperative and coordinated fashion. The proposed methodology uses the general concept of Descriptor Functions, to establish a relationship between tasks, their priority, and agents or groups of agents forming a large interconnected system. A bio-inspired model of the division of labor in colonies of social agents is used to derive a set of rules at the individual level that gives rise to agent specialization. Preliminary simulations show interesting results, and the potential of the proposed technique.
Multiple UAV Task Assignment using Descriptor Functions
INNOCENTI, MARIO;POLLINI, LORENZO
2010-01-01
Abstract
The paper presents a preliminary application of a new methodology to the problem of task assignment, for a large number of unmanned vehicles operating in a cooperative and coordinated fashion. The proposed methodology uses the general concept of Descriptor Functions, to establish a relationship between tasks, their priority, and agents or groups of agents forming a large interconnected system. A bio-inspired model of the division of labor in colonies of social agents is used to derive a set of rules at the individual level that gives rise to agent specialization. Preliminary simulations show interesting results, and the potential of the proposed technique.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.