Page 66 - Innovations in Intelligent Machines

Team, Game, and Negotiation based UAV Task Allocation 55
The proposal of agent A i , sent to its neighboring agents, is of the form
)), containing the proposer agent’s identification, pro-
Q i =(A i ,T S i ,b i (T S i
.
posed target, and the value associated with T S i
Processing received proposals (NC2) and sending decisions (NC3): Let Q i be
the set of proposals received by agent A i from its neighbors A j , including its
own proposal.

,β j ); L(A j ) ∈N(L(A i ),q c )}
Q i = {(A j ,C S j
i
Let T be a target that appears in at least one of the proposals received
k
i i i
k k k
by A i .Thatis, T = T S j for some Q j ∈Q i . For each such T , define A(T )
i
i
as the set of agents that have proposed T ,and B(T ) as the set of values
k
k
i
associated with agents in A(T ). So,
k
i i
k
k
A(T )= {A j | Q j ∈Q i ,T S j = T }
i i
B(T )= {b i (T j ) | A j ∈A(T ))} (22)
k
k
i
i
Using the above sets (A(T )and B(T )), agent A i sends accept or reject
k k
decision to its neighbors using the following rules:
Rule 1: An agent A i sends accept to agent A j ,if
i
A(T )= {A j } (23)
k
i
That is, A(T ) is a singleton containing only agent A j (note that A j could be
k
A i itself).
i
Rule 2: If A(T ) is not a singleton then agent A i sends accept to that agent
k
i
i
in A(T ) which obtain the maximum value by attacking target T and reject
k k
i
i
to all other agents in A(T ). That is, accept is sent to A j ∈A(T )if,
k k
i
j = arg max{b i (T j ) ∈B(T )} (24)
k
j
Note that Rule 2 subsumes Rule 1. But they are stated separately for clarity.
Again A j canbeA i itself.
Rule 3: An agent can send only one accept for one target. If there are more

than one j then the agent selects one of them.
Rule 4: For A i to decide on its action at the current search step it has to get
accept from all its neighboring agents to which it had sent its proposals.
Rule 1 implies that when an agents’ proposal is not in conflict with other
agents’ proposals an accept can be sent without considering the other agents’
decisions. When more than one agent proposes to attack T k then there is
a conflict between the proposing agents which A i has to resolve. The con-
flict can be resolved by comparing the benfits’ proposed by the agents. Agent
A i compares the b i (T j ) received for target T k and sends accept decision to an