Welcome to CBBA-Python Discussions!

[zehuilu]

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[lylia711]

I'd like to implement this algorithm to a heterogeneous team of robots and I'd like to know is that possible ?

[zehuilu]

Yes, it is possible. The main function of CBBA tasks a list of dataclass Agent as input (see here). For each Agent, you could have different properties like average velocity (see here). Also, you can have multiple types of agents and tasks, where Type-A agents can only execute Type-A tasks. You can define them by task_type of dataclass Task and agent_type of dataclass Agent. An example is shown here. The heterogeneity in this repo is the same as what proposed in CBBA paper.

[xixi87]

Thank you for your sharing!
I'd like to implement CBBA to ship agents, could you share the closest related article of implement this algorithm to UAV?
I want to understand the codes based on the article.

[zehuilu]

Hi xixi87,

Whether agents are aerial robots or ground robots, they shouldn't affect how this algorithm work. You could look into their original paper https://ieeexplore.ieee.org/abstract/document/5072249
As for the application into UAV, here is another paper from them. https://arc.aiaa.org/doi/abs/10.2514/6.2009-5776

[xixi87]

Thank you very much!

[menaxijbagchi]

Hi,
Can you elaborate a bit about the convergence criteria, i.e., how to know whether the convergence has reached and each agent has the global bid value of a task.

[zehuilu]

Hi, I would recommend checking their original paper Consensus-Based Decentralized Auctions for Robust Task Allocation
. Particularly, they discuss this in Section V. For a static and connected network, Theorem 1 states that the convergence time is bounded by N_{min}D.

[PLZCALLMEDIAN]

Hi ,How to modify the CBBA algorithm with task coupling?