期刊
AUTONOMOUS ROBOTS
卷 44, 期 1, 页码 57-73出版社
SPRINGER
DOI: 10.1007/s10514-019-09856-1
关键词
Multi-robot system; Task assignment; Distributed algorithm
资金
- National Science Foundation [1637915]
- Direct For Computer & Info Scie & Enginr
- Div Of Information & Intelligent Systems [1637915] Funding Source: National Science Foundation
We study the problem of tracking multiple moving targets using a team of mobile robots. Each robot has a set of motion primitives to choose from in order to collectively maximize the number of targets tracked or the total quality of tracking. Our focus is on scenarios where communication is limited and the robots have limited time to share information with their neighbors. As a result, we seek distributed algorithms that can find solutions in a bounded amount of time. We present two algorithms: (1) a greedy algorithm that is guaranteed to find a 2-approximation to the optimal (centralized) solution but requiring |R| communication rounds in the worst case, where |R| denotes the number of robots, and (2) a local algorithm that finds a are parameters that allow the user to trade-off the solution quality with communication time. In addition to theoretical results, we present empirical evaluation including comparisons with centralized optimal solutions.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据