A modified consensus-based grouping algorithm for multi-agent task allocation in saturation attack scenarios

This paper addresses the decentralized simultaneous multi-agent task allocation problem in saturation attack scenarios. This problem arises when multiple agents have to cooperate simultaneously to perform complex and dangerous tasks that may result in their malfunction or damage. A modified consensus-based grouping algorithm with virtual tasks (CBGA-VT) is proposed that considers time windows, different types of tasks, and destroyed agents after performing certain tasks. Virtual tasks are introduced to address the decreased agents problem and the scoring scheme is improved to achieve better performance. Simulation results demonstrate that CBGA-VT can effectively solve the multi-agent simultaneous task allocation considering destroyed agents in saturation attack scenarios.