Dynamic Multi-Task Allocation for Collaborative Unmanned Aircraft Systems

This paper outlines the practical approach taken for improving quality of service for multi-task allocation in multiagent environments. Research in this field can be split into centralized and decentralized task allocation algorithms. Centralized algorithms compute a solution to the task assignment problem for all the agents leading, in most cases, to the global optimal solution. The centralized algorithms are plagued by creating a single point of failure and the bandwidth needed for creating consistent and accurate situational awareness of all agents. This work will extend upon a widely researched and heavily extended decentralized task assignment algorithm based on the consensus principle. Although many extensions have led to improvements of the original algorithm, there is still much opportunity for improvement in providing sufficient and reliable task assignments in dynamic conditions and changing environments.