Distributed Algorithm with Resilience for Multi-Agent Task Allocation

This paper develops an Iterated Auction-Consensus Algorithm (IACA) for resilient task allocation on a distributed multi-agent platform. The IACA enables each agent in the network to bid for tasks of interest at the auction stage and then utilizes the idea of consensus to resolve conflicts among agents' bids. Such a combination of auction and consensus enables each agent to repeatedly add tasks one by one to its task bundle until reaching its...