Equitable partitioning policies for robotic networks
Name
Pavone-2009-Equitable partitioning policies for robotic networks.pdf
Size
330.66 KB
Format
Adobe PDF
Checksum (MD5)
539a0b7ac557c7ff1af576b21178f97d
Author(s)
Frazzoli, Emilio
Pavone, Marco
Bullo, Francesco
Arsie, Alessandro
Date Issued
July 2009
Journal
IEEE International Conference on Robotics and Automation, 2009. ICRA '09
Publisher
Institute of Electrical and Electronics Engineers
Citation
Pavone, M. et al. “Equitable partitioning policies for robotic networks.” Robotics and Automation, 2009. ICRA '09. IEEE International Conference on. 2009. 2356-2361. ©2009 IEEE.
Version
Final published version
Abstract
The most widely applied resource allocation strategy is to balance, or equalize, the total workload assigned to each resource. In mobile multi-agent systems, this principle directly leads to equitable partitioning policies in which (i) the workspace is divided into subregions of equal measure, (ii) there is a bijective correspondence between agents and subregions, and (iii) each agent is responsible for service requests originating within its own subregion. In this paper, we provide the first distributed algorithm that provably allows m agents to converge to an equitable partition of the workspace, from any initial configuration, i.e., globally. Our approach is related to the classic Lloyd algorithm, and provides novel insights into the properties of power diagrams. Simulation results are presented and discussed.
MIT Department
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Massachusetts Institute of Technology. Laboratory for Information and Decision Systems
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/ROBOT.2009.5152809
