Patent ID: 7043309

Claim:
A distributed actuation allocation system, comprising: a plurality of implementation units grouped into a plurality of modules comprising at least one of the plurality of implementation units or a plurality of implementation unit sub-modules, wherein each of the plurality of implementation unit sub-modules includes at least one of the plurality of implementation units; a controller that generates a system goal; and at least one allocator that receives the system goal, partitions the system goal into a plurality of sub-goals, one for each of the plurality of modules, based on an allocation parameter, wherein the at least one allocator allocates at least one sub-goal to at least one of the plurality of sub-modules if the corresponding module includes a plurality of sub-modules, and the at least one allocator actuates the at least one of the plurality of implementation units within the at least one sub-module based on the sub-goal if the corresponding module does not include the plurality of sub-modules.