consensus-based-bundle-algorithm

Implementation of consensus based bundle algorithm (CBBA)[1] with python

Decentralized Multi-Robot Task Allocation

Dependency

• matplotlib
• imageio
• numpy

Fully Connected Communication Network

https://user-images.githubusercontent.com/31655488/172856048-8ed8c715-80aa-4f35-a214-4fbb64679e1c.mp4

Communication Limited Case (Star)

https://user-images.githubusercontent.com/31655488/172856156-621de8ff-4746-4a97-8b85-f14c764f2e5c.mp4

Reference

[1] Choi, Han-Lim, Luc Brunet, and Jonathan P. How. "Consensus-based decentralized auctions for robust task allocation." IEEE transactions on robotics 25.4 (2009): 912-926.