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This work builds on a decentralized task allocation algorithm for networked agents communicating through an asynchronous channel, by extending the Asynchronous Consensus-Based Bundle Algorithm (ACBBA) to account for more real time implementation issues resulting from a decentralized planner. This paper specfically talks to the comparisons between global and local convergence in asynchronous consensus algorithms. Also a feature called asynchronous replan is introduced to ACBBA's functionality that enables e ffcient updates to large changes in local situational awareness. A real-time software implementation using multiple agents communicating through the user datagram protocol (UDP) validates the proposed algorithm.
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Johnson et al. (2011) studied this question.
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