A Cross-Entropy Based Approach for UAV Task Allocation with Nonlinear Reward

Aditya Undurti, Jonathan How
2010 AIAA Guidance, Navigation, and Control Conference   unpublished
This paper presents an approach based on the cross-entropy method to solve the multi-agent task allocation problem. The approach is designed to generate plans for any general nonlinear reward structure and constraints efficiently to enable rapid replanning. The problem is formulated as an nonlinear integer programming optimization problem with constraints. The cross-entropy based algorithm is then used to solve the optimization problem and is shown to be computationally efficient with good
more » ... ient with good performance when compared to other approximate nonlinear optimization algorithms.
doi:10.2514/6.2010-7731 fatcat:ih3hxsvlcvddrmiwcp5ef646fy