NDLI: Tunable routing solutions for multi-robot navigation via the assignment problem: A 3D representation of the matching graph

Content Provider	IEEE Xplore Digital Library
Author	Lantao Liu Shell, D.A.
Copyright Year	2012
Description	Author affiliation: Department of Computer Science and Engineering, Texas A&M University, USA (Lantao Liu; Shell, D.A.)
Abstract	In scenarios in which new robots and tasks are added to a network of already deployed, interchangeable robots, a trade-off arises in minimizing the cost to execute the tasks and the level of disruption to the system. This paper considers a navigation-oriented variant of this problem and proposes a parametrizable method to adjust the optimization criterion: from minimizing global travel time (or energy, or distance), to minimizing interruption (i.e., obtaining the fewest number of robot reassignments), and mixtures in-between. Paths are computed by a task-allocation formulation in which the destinations of newly deployed robots are added to an existing allocation. We adapt the graph matching variant of the Hungarian algorithm—originally designed to solve the optimal assignment problem in complete graphs—to construct routing paths by showing that there is an interpretation of the sparse Hungarian bipartite graph in three dimensions. When new agent-task pairs are inserted, the assignment is reallocated in an incremental fashion in linear time (assuming traversal choices are limited in number). The algorithm is studied systematically in simulation and also validated with physical robots.
Starting Page	4800
Ending Page	4805
File Size	2062325
Page Count	6
File Format	PDF
ISBN	9781467314039
ISSN	10504729
e-ISBN	9781467314053
e-ISBN	9781467314046
DOI	10.1109/ICRA.2012.6224704
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-05-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Routing Robot sensing systems Algorithm design and analysis Complexity theory Shape Visualization
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Tunable routing solutions for multi-robot navigation via the assignment problem: A 3D representation of the matching graph (2012)

Tunable routing solutions for multi-robot navigation via the assignment problem: A 3D representation of the matching graph (2012)

A distributed algorithm for 2D shape duplication with smart pebble robots

Multi-robot surveillance: An improved algorithm for the GRAPH-CLEAR problem

Leaving Flatland: Toward real-time 3D navigation

Fair subdivision of multi-robot tasks

Graph-based distributed cooperative navigation

Simulating multi-million-robot ensembles

Social potentials for scalable multi-robot formations

Tunable routing solutions for multi-robot navigation via the assignment problem: A 3D representation of the matching graph

Similar Documents

Tunable routing solutions for multi-robot navigation via the assignment problem: A 3D representation of the matching graph (2012)

Tunable routing solutions for multi-robot navigation via the assignment problem: A 3D representation of the matching graph (2012)

A distributed algorithm for 2D shape duplication with smart pebble robots

Multi-robot surveillance: An improved algorithm for the GRAPH-CLEAR problem

Leaving Flatland: Toward real-time 3D navigation

Fair subdivision of multi-robot tasks

Graph-based distributed cooperative navigation

Simulating multi-million-robot ensembles

Social potentials for scalable multi-robot formations

Tunable routing solutions for multi-robot navigation via the assignment problem: A 3D representation of the matching graph