This paper presents a modified task structure of coupled-constraints consensus based bundle algorithm especially to resolve the cooperative transportation problem. The cooperative transportation mission has various types of constraints. A modified framework to generate activities and subtasks to solve time and task constraints of the transportation mission by using coupled-constraints consensus based bundle algorithm is suggested. In this paper modifications on task structure, reward function and arrival time calculation are suggested to handle the constraints of cooperative transportation mission.

• 김금성(Department of Aerospace engineering, KAIST) | Keum-Seong Kim
• 최한림(Aerospace engineering, KAIST) | Han-Lim Choi Corresponding author