Traveled distance minimization and hierarchical strategies for robotic networks

Jingjin Yu, Soon-Jo Chung, Petros G Voulgaris

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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.

Original languageEnglish (US)
Title of host publicationISCCSP 2014 - 2014 6th International Symposium on Communications, Control and Signal Processing, Proceedings
PublisherIEEE Computer Society
Pages491-496
Number of pages6
ISBN (Print)9781479928903
DOIs
StatePublished - Jan 1 2014
Event6th International Symposium on Communications, Control and Signal Processing, ISCCSP 2014 - Athens, Greece
Duration: May 21 2014May 23 2014

Publication series

NameISCCSP 2014 - 2014 6th International Symposium on Communications, Control and Signal Processing, Proceedings

Other

Other6th International Symposium on Communications, Control and Signal Processing, ISCCSP 2014
CountryGreece
CityAthens
Period5/21/145/23/14

Keywords

  • Robotic networks
  • hierarchical strategies
  • network connectivity
  • optimization

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Signal Processing

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  • Cite this

    Yu, J., Chung, S-J., & Voulgaris, P. G. (2014). Traveled distance minimization and hierarchical strategies for robotic networks. In ISCCSP 2014 - 2014 6th International Symposium on Communications, Control and Signal Processing, Proceedings (pp. 491-496). [6877920] (ISCCSP 2014 - 2014 6th International Symposium on Communications, Control and Signal Processing, Proceedings). IEEE Computer Society. https://doi.org/10.1109/ISCCSP.2014.6877920