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Traveled distance minimization and hierarchical strategies for robotic networks

Yu, Jingjin and Chung, Soon-Jo and Voulgaris, Petros G. (2014) Traveled distance minimization and hierarchical strategies for robotic networks. In: 6th International Symposium on Communications, Control and Signal Processing (ISCCSP), 2014. IEEE , Piscataway, NJ, pp. 491-496. ISBN 978-1-4799-2890-3. http://resolver.caltech.edu/CaltechAUTHORS:20161123-102301602

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Abstract

We study the distance optimal assignment of n mobile robots to an equal number of targets under communication and target-sensing constraints. Extending previous results over uniform distributions, we show that when the robots and targets assume the same but arbitrary distribution over the unit square, a carefully designed distributed hierarchical strategy has expected travel distance that matches the best known upper bound assuming global communication and infinite target-sensing range. In a sense, our result shows that for target assignment problems in robotic networks, local optimality also offers good guarantees on global optimality.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.1109/ISCCSP.2014.6877920DOIArticle
http://ieeexplore.ieee.org/document/6877920/PublisherArticle
ORCID:
AuthorORCID
Chung, Soon-Jo0000-0002-6657-3907
Additional Information:© 2014 IEEE. Date of Conference: 21-23 May 2014. Date Added to IEEE Xplore: 14 August 2014. This work was supported in part by AFOSR grant FA95501210193 and NSF grant IIS-1253758.
Group:GALCIT
Funders:
Funding AgencyGrant Number
Air Force Office of Scientific Research (AFOSR)FA95501210193
NSFIIS-1253758
Record Number:CaltechAUTHORS:20161123-102301602
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20161123-102301602
Official Citation:J. Yu, S. J. Chung and P. G. Voulgaris, "Traveled distance minimization and hierarchical strategies for robotic networks," 2014 6th International Symposium on Communications, Control and Signal Processing (ISCCSP), Athens, 2014, pp. 491-496. doi: 10.1109/ISCCSP.2014.6877920
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:72277
Collection:CaltechAUTHORS
Deposited By: Ruth Sustaita
Deposited On:23 Nov 2016 18:40
Last Modified:04 Jan 2017 19:31

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