 |
14th Southern California Nonlinear Control Workshop
A Geometric Assignment Problem for Robotic Networks
Stephen L. Smith, UCSB
Advisor: Francesco Bullo
Advisor: Francesco Bullo
In
this talk we look at a geometric assignment problem consisting of an
equal number of mobile robotic agents and distinct target locations.
Each agent has a limited communication range, a maximum speed, and
knowledge of every target's position. The problem is to devise a
distributed algorithm that allows the agents to divide the target
locations among themselves and, simultaneously, leads each agent to its
unique target. We summarize two algorithms for this problem; one
designed for ``sparse'' environments, in which communication between
robots is sparse, and one for ``dense'' environments, where
communication is more prevalent. We characterize the asymptotic
performance of these algorithms as the number of agents increases and
the environment grows to accommodate them.