Dynamic Coalition-based Distributed Decision-making for Multiple Unmanned Underwater Vehicles Considering Communication Topology

Distributed decision-making framework enables to adapt to dynamic environment and makes decisions online for multiple unmanned underwater vehicles (UUVs). However, restricted information interaction affects the performance of operating tasks in this structure. Considering the communication topology, this paper proposes a dynamic coalition-based distributed decision-making method for multiple UUVs. Each UUV is regarded as an agent with autonomous decision, and several UUVs form a coalition to carry on tasks. Based on the communication topology and coalition formation rule, multiple UUVs generate conflict-free task assignment schemes cooperatively. The simulation experiments show that the proposed method enables to achieve effectively decision-making considering weak communication with flexibility and scalability.