Dron sürüleri için müzakere tabanlı dağıtık görev atama algoritması

Yıl 2024, Cilt: 13 Sayı: 4, 1080 - 1092, 15.10.2024

Mutullah Eşer , Asım Egemen Yılmaz

https://doi.org/10.28948/ngumuh.1456928

Öz

Dron sürüleri üzerine yapılan araştırmalar, üstün görev performansları nedeniyle ivme kazanmıştır. Bu makale, heterojen drone sürülerinde görev dağılımı için açık artırmaya dayalı bir algoritma olan Harmony DTA'yı tanıtıyor. Literatürde var olan araştırmalar öncelikle görevlerle ilgili toplam maliyeti en aza indirmeye odaklanmaktadır. Harmony DTA ise gelişmiş maliyet hesaplama fonksiyonu aracılığıyla yalnızca toplam maliyeti en aza indirmekle kalmaz, aynı zamanda iş yükünün dronlar arasında adil bir şekilde dağıtılmasını da sağlamaktadır. Ayrıca önerilen iki aşamalı açık artırma süreci, iletişim sırasında kullanılan toplam mesaj boyutunu da azaltmaktadır. Önerilen algoritmanın etkinliğini değerlendirmek için simülasyonlar ve saha testleri yapılmıştır. Ek olarak algoritmanın performansı CBBA (Konsensus Tabanlı Demet Algoritması) algoritmasıyla ajanlar arasında tüm mesajların iletildiği ve haberleşme sorunları nedeniyle bazı mesajların iletilmediği durumlar için de karşılaştırılarak değerlendirilmiştir. Elde edilen simülasyon sonuçlarına göre önerilen algoritma haberleşme sorunsuz ortamlarda CBBA’ya göre ortalama %20 daha düşük maliyet ve ortalama %50 daha az mesaj boyutu ile atama problemini çözebilmektedir. Haberleşme sorunu nedeniyle ajanlar arsında bazı mesajların iletilemediği ortamlarda ise Harmony DTA, fikir birliği aşamasına sahip olmaması nedeniyle çakışan atamalar yaparak CBBA’ya göre daha kötü performans sergilemektedir.

Anahtar Kelimeler

Dron sürüsü, Görev atama, Dağıtık hesaplama, açık artırma algoritması

Auction-based distributed task allocation algorithm for drone swarms

Öz

Drone swarm research has surged due to their superior task performance. This paper introduces Harmony DTA, an auction-based algorithm for task allocation in heterogeneous drone swarms. Prior research primarily focuses on minimizing overall costs associated with assignments. In contrast, Harmony DTA not only minimizes total costs through an enhanced cost calculation function, but also ensures equitable distribution of workload among drones. Additionally, the proposed two-stage auction process reduces the total message size utilized during communication. Simulations and field tests were conducted to assess the effectiveness of the proposed algorithm. In addition, the performance of the algorithm was evaluated by comparing it with the CBBA (Consensus-Based Bundle Algorithm) algorithm in cases where all messages are transmitted between agents and some messages are not transmitted due to communication problems. Based on the simulation findings, the suggested algorithm demonstrates an ability to address the assignment problem with a mean cost reduction of 20% and a mean reduction in message size of 50% compared to CBBA in scenarios without communication issues. However, in situations where communication obstacles lead to some messages being untransmitted between agents, Harmony DTA exhibits inferior performance to CBBA, attributed to conflicting assignments arising from the absence of a consensus phase.

Anahtar Kelimeler

Drone swarm, Task allocation, Distributed computing, Auction algorithm

Kaynakça

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