A constraint-based approach to assigning system components to tasks
In multi-component systems, individual components must be assigned to the tasks that they are to perform. In many applications, there are several possible task decompositions that could be used to achieve the task, and there are limited resources available throughout the system. We present a technique for making task assignments under these conditions. Constraint satisfaction is used to assign components to particular tasks. Heuristics suggest a task decomposition for which an assignment can be found efficiently. We have applied our technique to the problem of task assignment in systems of underwater robots and instrument platforms working together to collect data in the ocean.
task assignment constraint satisfaction constrained heuristic search autonomous underwater vehicles