Title :
A grid forming target allocation strategy for multi robot systems.
Author :
Lionis, Grigoris ; Kyriakopoulos, Kostas J.
Author_Institution :
Sch. of Mech. Eng., Nat. Tech. Univ. of Athens, Athens, Greece
Abstract :
In this paper we investigate a class of algorithms for solving a target allocation problem for a team of mobile robots. The problem solved concerns the concurrent solution of the target allocation problem and the motion planning problem, and it is solved for a specific class of targets. Specifically we are studying the solution of the target allocation problem when the targets are structured on a full grid structure. The problem is solved decentralized, with each agent having information regarding its position and its immediate vicinity. The main idea is to transform the problem from a 2D problem in a 1D problem. Time bounds for convergence are also given.
Keywords :
convergence; grid computing; mobile agents; mobile robots; multi-robot systems; path planning; resource allocation; convergence; grid forming target allocation strategy; mobile robots; motion planning problem; multirobot systems; Automatic control; Collision avoidance; Control systems; Convergence; Intelligent robots; Lattices; Mechanical engineering; Mobile robots; Motion planning; Robotics and automation;
Conference_Titel :
Control and Automation, 2009. MED '09. 17th Mediterranean Conference on
Conference_Location :
Thessaloniki
Print_ISBN :
978-1-4244-4684-1
Electronic_ISBN :
978-1-4244-4685-8
DOI :
10.1109/MED.2009.5164580
