TY - GEN
T1 - Traveled distance minimization and hierarchical strategies for robotic networks
AU - Yu, Jingjin
AU - Chung, Soon Jo
AU - Voulgaris, Petros G.
PY - 2014
Y1 - 2014
N2 - 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.
AB - 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.
KW - Robotic networks
KW - hierarchical strategies
KW - network connectivity
KW - optimization
UR - http://www.scopus.com/inward/record.url?scp=84906777650&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84906777650&partnerID=8YFLogxK
U2 - 10.1109/ISCCSP.2014.6877920
DO - 10.1109/ISCCSP.2014.6877920
M3 - Conference contribution
AN - SCOPUS:84906777650
SN - 9781479928903
T3 - ISCCSP 2014 - 2014 6th International Symposium on Communications, Control and Signal Processing, Proceedings
SP - 491
EP - 496
BT - ISCCSP 2014 - 2014 6th International Symposium on Communications, Control and Signal Processing, Proceedings
PB - IEEE Computer Society
T2 - 6th International Symposium on Communications, Control and Signal Processing, ISCCSP 2014
Y2 - 21 May 2014 through 23 May 2014
ER -