基于共识的捆绑算法CBBA实现多无人机多任务调度附matlab代码

最新推荐文章于 2024-03-19 04:34:55 发布

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最新推荐文章于 2024-03-19 04:34:55 发布

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分类专栏：无人机文章标签： matlab 算法数学建模

本文链接：https://blog.csdn.net/m0_57702748/article/details/130894530

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⛄ 内容介绍

Theorem 1. Provided that the scoring function is DMG (Diminishing Marginal Gain), the CBBA process with a conflflict resolution phase over a static communication network with diameter D satisfifiesthe following:

1. CBBA produces the same solution as SGA(sequentional greedy algo) with the corresponding winning bid values and winning agent information being shared across the flfleet

2. The convergence time Tc is bounded above by NminD.

⛄ 部分代码

% Runs consensus between neighbors

% Checks for conflicts and resolves among agents

%---------------------------------------------------------------------%

function [CBBA_Data t] = CBBA_Communicate(CBBA_Params, CBBA_Data, Graph, old_t, T)

% Copy data

for n = 1:CBBA_Params.N,

old_z(n,:) = CBBA_Data(n).winners;

old_y(n,:) = CBBA_Data(n).winnerBids;

end

z = old_z;

y = old_y;

t = old_t;

epsilon = 10e-6;

% Start communication between agents

% sender = k

% receiver = i

% task = j

for k=1:CBBA_Params.N

for i=1:CBBA_Params.N

if( Graph(k,i) == 1 )

for j=1:CBBA_Params.M

% Implement table for each task

if( old_z(k,j) == k ) % Entries 1 to 4: Sender thinks he has the task

% Entry 1: Update or Leave

if( z(i,j) == i )

if( old_y(k,j) - y(i,j) > epsilon ) % Update

z(i,j) = old_z(k,j);

y(i,j) = old_y(k,j);

elseif( abs(old_y(k,j) - y(i,j)) <= epsilon ) % Equal scores

if( z(i,j) > old_z(k,j) ) % Tie-break based on smaller index

z(i,j) = old_z(k,j);

y(i,j) = old_y(k,j);

end

% Entry 2: Update

elseif( z(i,j) == k )

z(i,j) = old_z(k,j);

y(i,j) = old_y(k,j);

% Entry 3: Update or Leave

elseif( z(i,j) > 0 )

if( old_t(k,z(i,j)) > t(i,z(i,j)) ) % Update

z(i,j) = old_z(k,j);

y(i,j) = old_y(k,j);

elseif( (old_y(k,j) - y(i,j)) > epsilon ) % Update

z(i,j) = old_z(k,j);

y(i,j) = old_y(k,j);

elseif( abs(old_y(k,j) - y(i,j)) <= epsilon ) % Equal scores

if( z(i,j) > old_z(k,j) ) % Tie-break based on smaller index

z(i,j) = old_z(k,j);

y(i,j) = old_y(k,j);

end

% Entry 4: Update

elseif( z(i,j) == 0 )

z(i,j) = old_z(k,j);

y(i,j) = old_y(k,j);

else

disp('Unknown winner value: Should not be here, please revise')

end

elseif( old_z(k,j) == i ) % Entries 5 to 8: Sender thinks receiver has the task

% Entry 5: Leave

if( z(i,j) == i )

% Do nothing

% Entry 6: Reset

elseif( z(i,j) == k )

z(i,j) = 0;

y(i,j) = 0;

% Entry 7: Reset or Leave

elseif( z(i,j) > 0 )

if( old_t(k,z(i,j)) > t(i,z(i,j)) ) % Reset

z(i,j) = 0;

y(i,j) = 0;

end

% Entry 8: Leave

elseif( z(i,j) == 0 )

% Do nothing

else

disp('Unknown winner value: Should not be here, please revise')

end

elseif( old_z(k,j) > 0 ) % Entries 9 to 13: Sender thinks someone else has the task

% Entry 9: Update or Leave

if( z(i,j) == i )

if( old_t(k,old_z(k,j)) > t(i,old_z(k,j)) )

if ( (old_y(k,j) - y(i,j)) > epsilon )

z(i,j) = old_z(k,j); % Update

y(i,j) = old_y(k,j);

elseif( abs(old_y(k,j) - y(i,j)) <= epsilon ) % Equal scores

if( z(i,j) > old_z(k,j) ) % Tie-break based on smaller index

z(i,j) = old_z(k,j);

y(i,j) = old_y(k,j);

end

% Entry 10: Update or Reset

elseif( z(i,j) == k )

if( old_t(k,old_z(k,j)) > t(i,old_z(k,j)) ) % Update

z(i,j) = old_z(k,j);

y(i,j) = old_y(k,j);

else % Reset

z(i,j) = 0;

y(i,j) = 0;

end

% Entry 11: Update or Leave

elseif( z(i,j) == old_z(k,j) )

if( old_t(k,old_z(k,j)) > t(i,old_z(k,j)) ) % Update

z(i,j) = old_z(k,j);

y(i,j) = old_y(k,j);

end

% Entry 12: Update, Reset or Leave

elseif( z(i,j) > 0 )

if( old_t(k,z(i,j)) > t(i,z(i,j)) )

if( old_t(k,old_z(k,j)) >= t(i,old_z(k,j)) ) % Update

z(i,j) = old_z(k,j);

y(i,j) = old_y(k,j);

elseif( old_t(k,old_z(k,j)) < t(i,old_z(k,j)) ) % Reset

z(i,j) = 0;

y(i,j) = 0;

else

disp('Should not be here, please revise')

end

else

if( old_t(k,old_z(k,j)) > t(i,old_z(k,j)) )

if( (old_y(k,j) - y(i,j)) > epsilon ) % Update

z(i,j) = old_z(k,j);

y(i,j) = old_y(k,j);

elseif( abs(old_y(k,j) - y(i,j)) <= epsilon ) % Equal scores

if( z(i,j) > old_z(k,j) ) % Tie-break based on smaller index

z(i,j) = old_z(k,j);

y(i,j) = old_y(k,j);

end

% Entry 13: Update or Leave

elseif( z(i,j) == 0 )

if( old_t(k,old_z(k,j)) > t(i,old_z(k,j)) ) % Update

z(i,j) = old_z(k,j);

y(i,j) = old_y(k,j);

end

else

disp('Unknown winner value: Should not be here, please revise')

end

elseif( old_z(k,j) == 0 ) % Entries 14 to 17: Sender thinks no one has the task

% Entry 14: Leave

if( z(i,j) == i )

% Do nothing

% Entry 15: Update

elseif( z(i,j) == k )

z(i,j) = old_z(k,j);

y(i,j) = old_y(k,j);

% Entry 16: Update or Leave

elseif( z(i,j) > 0 )

if( old_t(k,z(i,j)) > t(i,z(i,j)) ) % Update

z(i,j) = old_z(k,j);

y(i,j) = old_y(k,j);

end

% Entry 17: Leave

elseif( z(i,j) == 0 )

% Do nothing

else

disp('Unknown winner value: Should not be here, please revise')

end

% End of table

else

disp('Unknown winner value: Should not be here, please revise')

end

% Update timestamps for all agents based on latest comm

for n=1:CBBA_Params.N

if( n ~= i && t(i,n) < old_t(k,n) )

t(i,n) = old_t(k,n);

end

t(i,k) = T;

end

% Copy data

for n = 1:CBBA_Params.N,

CBBA_Data(n).winners = z(n,:);

CBBA_Data(n).winnerBids = y(n,:);

end

⛄ 运行结果

⛄ 参考文献

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基于共识的捆绑算法CBBA实现多无人机多任务调度附matlab代码

Theorem 1. Provided that the scoring function is DMG (Diminishing Marginal Gain), the CBBA process with a conflflict resolution phase over a static communication network with diameter D satisfifiesthe following:1. CBBA produces the same solution as SGA(seq
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