Dynamic task-allocation for Unmanned Aircraft Systems

This dissertation addresses improvements to a consensus based task allocation algorithms for improving the Quality of Service in multi-task and multi-agent environments. Research in the past has led to many centralized task allocation algorithms where a central computation unit is calculating the global optimum task allocation solution. The centralized algorithms are plagued by creating a single point of failure and the bandwidth needed for creating consistent and accurate situational awareness off all agents.;This work will extend upon a widely researched decentralized task assignment algorithm based on the consensus principle. Although many extensions have led to improvements of the original algorithm, there is still much opportunity for improvement in providing sufficient and reliable task assignments in real-world dynamic conditions and changing environments. This research addresses practical changes made to the consensus based task allocation algorithms for improving the Quality of Service in multi-task and multi-agent environments.