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Role-Assignment in Multi-Agent Coordination
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TLDR
A suite of suboptimal, but computationally tractable (polynomial time) algorithms are given, based on a solution to the problem of finding the optimal translation and rotation given a fixed assignment.Abstract:
In this paper we study the problem of parameterized assignment. This problem arises when a team of mobile robots must decide what role to take on in a given planar formation, where the parameters are the rotation and translation of the formation. A suite of suboptimal, but computationally tractable (polynomial time) algorithms are given, based on a solution to the problem of finding the optimal translation and rotation given a fixed assignment. Numerical examples show the viability of the proposed, suboptimal solutions.read more
Citations
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Proceedings ArticleDOI
Distributed multi-robot task assignment and formation control
TL;DR: This work addresses the challenge of distributed task assignment for multiple agents using market-based coordination protocols where the agents are able to bid for task assignment with the assumption that every agent has knowledge of the maximum number of agents that any given task can accommodate.
Proceedings ArticleDOI
A distributed auction algorithm for the assignment problem
TL;DR: This algorithm is an extension to the parallel auction algorithm proposed by Bertsekas et al to the case where only local information is available and it is shown to always converge to an assignment that maximizes the total assignment benefit within a linear approximation of the optimal one.
Journal ArticleDOI
Capt: Concurrent assignment and planning of trajectories for multiple robots
TL;DR: This paper considers the problem of concurrent assignment and planning of trajectories for a team of robots and proposes algorithmic solutions to two variations of the Capt problem, and proposes a decentralized solution through d-Capt, a decentralized algorithm that provides suboptimal results compared to c-Capt.
Journal ArticleDOI
Dynamic Assignment in Distributed Motion Planning With Local Coordination
TL;DR: This paper addresses the challenge of motion planning algorithms that dynamically assign targets or destinations to multiple homogeneous agents, not relying on any a priori assignment of agents to destinations using two novel ideas: distributed multidestination potential fields and nearest neighbor coordination protocols.
Journal ArticleDOI
A Distributed Version of the Hungarian Method for Multirobot Assignment
TL;DR: In this article, a distributed version of the Hungarian method is proposed to solve the well-known assignment problem, where all robots cooperatively compute a common assignment that optimizes a given global criterion (e.g., the total distance traveled) within a finite set of local computations and communications over a peer-to-peer network.
References
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Book
Computers and Intractability: A Guide to the Theory of NP-Completeness
TL;DR: The second edition of a quarterly column as discussed by the authors provides a continuing update to the list of problems (NP-complete and harder) presented by M. R. Garey and myself in our book "Computers and Intractability: A Guide to the Theory of NP-Completeness,” W. H. Freeman & Co., San Francisco, 1979.
Journal ArticleDOI
Consensus problems in networks of agents with switching topology and time-delays
TL;DR: A distinctive feature of this work is to address consensus problems for networks with directed information flow by establishing a direct connection between the algebraic connectivity of the network and the performance of a linear consensus protocol.
Journal ArticleDOI
The Hungarian method for the assignment problem
TL;DR: This paper has always been one of my favorite children, combining as it does elements of the duality of linear programming and combinatorial tools from graph theory, and it may be of some interest to tell the story of its origin this article.
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