Distributed coordination of mobile agent teams: the advantage of planning ahead
Laura Barbulescu, Zachary B. Rubinstein, Stephen F. Smith, Terry L. Zimmerman · 2010
We consider the problem of coordinating a team of agents engaged in executing a set of inter-dependent, geographically dispersed tasks in an oversubscribed and uncertain environment. In such domains, where there are sequence-dependent setup activities (e.g., travel), we argue that there is inherent leverage to having agents maintain advance schedules. In the distributed problem solving setting we consider, each agent begins with a task itinerary, and, as execution unfolds and dynamics ensue (e.g., tasks fail, new tasks are discovered, etc.), agents must coordinate to extend and revise their plans accordingly. The team objective is to maximize the utility accrued from executed actions over a given time horizon. Our approach to solving this problem is based on distributed management of agent schedules. We describe an