Efficient Routing Algorithms for Multiple Vehicles With no Explicit Communications
Name
Arsie-2009-Efficient Routing Al.pdf
Size
835.89 KB
Format
Adobe PDF
Checksum (MD5)
5b92ef8c677e0e29d89138b2d0518eda
Author(s)
Savla, Ketan
Frazzoli, Emilio
Arsie, Alessandro
Date Issued
September 2009
Journal
IEEE Transactions on Automatic Control
Publisher
Institute of Electrical and Electronics Engineers
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. © 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 steady-state 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 ldquotime spent alonerdquo at the next target location. Simulation results are presented and discussed.
Subjects
spatial games
multi-agent systems
facility location
Dynamic vehicle routing
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
http://dx.doi.org/10.1109/tac.2009.2028954
