Sharing the load: Mobile robotic networks in dynamic environments
Name
Pavone-2009-Sharing the Load Mobile Robotic Networks in Dynamic Environments.pdf
Size
1.24 MB
Format
Adobe PDF
Checksum (MD5)
23b5eca36ef3549677a40a2dc925e6f4
Author(s)
Pavone, Marco
Savla, Ketan
Frazzoli, Emilio
Date Issued
June 2009
Journal
IEEE Robotics & Automation Magazine
Publisher
Institute of Electrical and Electronics Engineers
Citation
Pavone, M., K. Savla, and E. Frazzoli. “Sharing the load.” Robotics & Automation Magazine, IEEE 16.2 (2009): 52-61. ©2009 IEEE.
Version
Final published version
Abstract
In this article, we discussed the use of various spatial tessellations to determine, in the framework of partitioning policies, optimal workload share in a mobile robotic network. We also proposed efficient and spatially distributed algorithms for achieving some of these tessellations with minimum or no communication between the agents. Because of space limitations, we have not reported results of numerical experiments in this article but provided bibliographic references to publications containing such results and further details. It is interesting to note that these tessellations appear while considering different variations of the same basic problem (DTRP). It is then natural to investigate the existence of a single objective function, whose optima correspond to the various tessellations under these different variations. The game theory approach seems to be a promising one.
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/MRA.2009.932528
