Equitable partitioning policies for robotic networks
Author(s)Frazzoli, Emilio; Pavone, Marco; Bullo, Francesco; Arsie, Alessandro
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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.
DepartmentMassachusetts Institute of Technology. Department of Aeronautics and Astronautics; Massachusetts Institute of Technology. Laboratory for Information and Decision Systems
IEEE International Conference on Robotics and Automation, 2009. ICRA '09
Institute of Electrical and Electronics Engineers
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.
Final published version
INSPEC Accession Number: 10748841