%?Copyright?2010
%?Massachusetts?Institute?of?Technology
%?All?rights?reserved
%?Developed?by?the?Aerospace?Controls?Lab?MIT

%---------------------------------------------------------------------%
%?Consensus-based?Bundle?Algorithm?（CBBA）

%?This?software?package?implements?the?Consensus-based?Bundle?Algorithm
%?（CBBA）?a?decentralized?market-based?protocol?that?provides?provably?good?
%?approximate?solutions?for?multi-agent?multi-task?allocation?problems
%?over?networks?of?heterogeneous?agents.?The?current?version?supports?
%?tasks?with?time?windows?of?validity?heterogeneous?agent-task?
%?compatibility?requirements?and?score?functions?that?balance?task
%?reward?and?fuel?costs.
%---------------------------------------------------------------------%

%---------------------------------------------------------------------%
%?Main?test?file.??Initializes?problem?and?calls?CBBA.
%---------------------------------------------------------------------%

%?Clear?environment
close?all;?clear?all;
addpath（genpath（cd））;

%?profile?on

SEED?=?24377;
rand（‘seed‘?SEED）;

%---------------------------------------------------------------------%
%?Initialize?global?variables
%---------------------------------------------------------------------%

WORLD.CLR??=?rand（1003）;

WORLD.XMIN?=?-2.0;
WORLD.XMAX?=??2.5;
WORLD.YMIN?=?-1.5;
WORLD.YMAX?=??5.5;
WORLD.ZMIN?=??0.0;
WORLD.ZMAX?=??2.0;
WORLD.MAX_DISTANCE?=?sqrt（（WORLD.XMAX?-?WORLD.XMIN）^2?+?...
??????????????????????????（WORLD.YMAX?-?WORLD.YMIN）^2?+?...
??????????????????????????（WORLD.ZMAX?-?WORLD.ZMIN）^2）;
?
%---------------------------------------------------------------------%
%?Define?agents?and?tasks
%---------------------------------------------------------------------%
%?Grab?agent?and?task?types?from?CBBA?Parameter?definitions
CBBA_Params?=?CBBA_Init（00）;

%?Initialize?possible?agent?fields
agent_default.id????=?0;????????????%?agent?id
agent_default.type??=?0;????????????%?agent?type
agent_default.avail?=?0;????????????%?agent?availability?（expected?time?in?sec）
agent_default.clr?=?[];?????????????%?for?plotting

agent_default.x???????=?0;??????????%?agent?position?（meters）
agent_default.y???????=?0;??????????%?agent?position?（meters）
agent_default.z???????=?0;??????????%?agent?position?（meters）
agent_default.nom_vel?=?0;??????????%?agent?cruise?velocity?（m/s）
agent_default.fuel????=?0;??????????%?agent?fuel?penalty?（per?meter）

%?FOR?USER?TO?DO:??Set?agent?fields?for?specialized?agents?for?example:
%?agent_default.util?=?0;

%?Initialize?possible?task?fields
task_default.id???????=?0;??????????%?task?id
task_default.type?????=?0;??????????%?task?type
task_default.value????=?0;??????????%?task?reward
task_default.start????=?0;??????????%?task?start?time?（sec）
task_default.end??????=?0;??????????%?task?expiry?time?（sec）
task_default.duration?=?0;??????????%?task?default?duration?（sec）
task_default.lambda???=?0.1;????????%?task?

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件????????689??2010-07-09?12:03??CBBA\base\CBBA_Bundle.m

?????文件???????3013??2010-07-09?12:04??CBBA\base\CBBA_BundleAdd.m

?????文件???????1824??2010-07-09?12:05??CBBA\base\CBBA_BundleRemove.m

?????文件???????9609??2010-07-13?15:14??CBBA\base\CBBA_Communicate.m

?????文件???????3609??2010-07-09?12:05??CBBA\base\CBBA_ComputeBids.m

?????文件???????1258??2010-07-09?12:03??CBBA\base\CBBA_Init.m

?????文件????????579??2010-07-09?12:05??CBBA\base\CBBA_InsertInList.m

?????文件???????3425??2010-07-13?15:23??CBBA\base\CBBA_Main.m

?????文件????????538??2010-07-09?12:05??CBBA\base\CBBA_RemoveFromList.m

?????文件???????6218??2013-07-08?09:14??CBBA\MainTestscript.m

?????文件???????3697??2010-07-09?12:06??CBBA\PlotAssignments.m

?????文件???????2356??2010-07-09?12:06??CBBA\Scoring\Scoring_CalcScore.m

?????目錄??????????0??2013-11-23?10:04??CBBA\base

?????目錄??????????0??2013-11-23?10:04??CBBA\Scoring

?????目錄??????????0??2013-11-23?10:04??CBBA

-----------?---------??----------?-----??----

????????????????36815????????????????????15