Allowing non-submodular score functions in distributed task allocation

  title={Allowing non-submodular score functions in distributed task allocation},
  author={Luke B. Johnson and Han-Lim Choi and Sameera S. Ponda and Jonathan P. How},
  journal={2012 IEEE 51st IEEE Conference on Decision and Control (CDC)},
Submodularity is a powerful property that can be exploited for provable performance and convergence guarantees in distributed task allocation algorithms. However, some mission scenarios cannot easily be approximated as submodular a priori. This paper introduces an algorithmic extension for distributed multi-agent multi-task assignment algorithms which provides guaranteed convergence using non-submodular score functions. This algorithm utilizes non-submodular ranking of tasks within each agent's… CONTINUE READING
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