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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

fully_connected.mp4

Communication Limited Case (Star)

star_connected.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.