Efficient Routing Algorithms for Multiple Vehicles With no Explicit Communications
Name
Frazzoli-2009-Efficient Routing Algorithms for Multiple Vehicles With no Explicit Communications.pdf
Size
838.92 KB
Format
Adobe PDF
Checksum (MD5)
34daa71b0bb3e70051bf580bff8b6249
Author(s)
Arsie, Alessandro
Savla, Ketan
Frazzoli, Emilio
Date Issued
September 2009
Journal
IEEE transactions on automatic control
Publisher
Institute of Electrical and Electronics Engineers / IEEE Control Systems Society
Citation
Arsie, A., K. Savla, and E. Frazzoli. “Efficient Routing Algorithms for Multiple Vehicles With No Explicit Communications.” Automatic Control, IEEE Transactions On 54.10 (2009) : 2302-2317. Copyright © 2009, IEEE
Version
Final published version
Abstract
In this paper, we consider a class of dynamic vehicle
routing problems, in which a number of mobile agents in the plane
must visit target points generated over time by a stochastic process.
It is desired to design motion coordination strategies in order to
minimize the expected time between the appearance of a target
point and the time it is visited by one of the agents. We propose
control strategies that, while making minimal or no assumptions on
communications between agents, provide the same level of steadystate
performance achieved by the best known decentralized strategies.
In other words, we demonstrate that inter-agent communication
does not improve the efficiency of such systems, but merely
affects the rate of convergence to the steady state. Furthermore,
the proposed strategies do not rely on the knowledge of the details
of the underlying stochastic process. Finally, we show that our proposed
strategies yield an efficient, pure Nash equilibrium in a game
theoretic formulation of the problem, in which each agent’s objective
is to maximize the expected value of the “time spent alone”
at the next target location. 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/tac.2009.2028954
