Dynamic assignment in distributed motion planning with local coordination

IEEE Transactions on Robotics

Volumn 24, Issue 1, 2008, Pages 232-242

  Zavlanos, Michael M ^a   Pappas, George J ^a  

^a UNIVERSITY OF PENNSYLVANIA   (United States)

Author keywords

Distributed control; Hybrid systems; Motion planning; Multiagent assignment problems

Indexed keywords

COMBINATORIAL MATHEMATICS; COMPUTER SIMULATION; DISTRIBUTED PARAMETER CONTROL SYSTEMS; MULTI AGENT SYSTEMS; POLYNOMIALS; STATE ASSIGNMENT;

DISTRIBUTED MULTIDESTINATION POTENTIAL FIELDS; HYBRID SYSTEMS; MULTIAGENT ASSIGNMENT PROBLEMS;

MOTION PLANNING;

EID: 40949110645     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2007.913992     Document Type: Article

References (26)

1. A. Jadbabaie, J. Lin, and A.S. Morse, "Coordination of groups of mobile autonomous agents using nearest neighbor rules," IEEE Trans. Autom. Control, vol. 48, no. 6, pp. 988-1001, Jun. 2003.
2. R. Olfati-Saber and R. M. Murray, "Consensus problems in networks of agents with switching topology and time-delays," IEEE Trans. Autom. Control, vol. 49, no. 9, pp. 1520-1533, Sep. 2004.
3. H. G. Tanner, A. Jadbabaie, and G. J. Pappas, "Flocking in fixed and switching networks," IEEE Trans. Autom. Control, vol. 52, no. 5, pp. 863-868, May 2007.
4. J. Cortes, S. Martinez, and F. Bullo, "Robust rendezvous for mobile autonomous agents via proximity graphs in arbitrary dimensions," IEEE Trans. Autom. Control, vol. 51, no. 8, pp. 1289-1298, Aug. 2006.
5. L. Chaimowicz, N. Michael, and V. Kumar, "Controlling swarms of robots using interpolated implicit functions," in Proc. IEEE Int. Conf. Robot. Autom., Barcelona, Spain, Apr. 2005, pp. 2498-2503.
6. R. Sepulchre, D. Paley, and N. E. Leonard, "Stabilization of planar collective motion: All-to-all communication," IEEE Trans. Autom. Control, vol. 52, no. 5, pp. 811-824, May 2007.
7. G. Lafferriere, A. Williams, J. Caughman, and J. J. P. Veerman, "Decentralized control of vehicle formations," Syst. Control Lett. vol. 54, no. 9, pp. 899-910, Sep. 2005.
8. T. Balch and R. C. Arkin, "Behavior-based formation control for multirobot teams," IEEE Trans. Robot. Autom., vol. 14, no. 6, pp. 926-939, Dec. 1998.
9. W. Ren and R. Beard, "Consensus seeking in multi-agent systems under dynamically changing interaction topologies," IEEE Trans. Autom. Control, vol. 50, no. 5, pp. 655-661, May 2005.
10. S. Poduri and G. S. Sukhatme, "Constrained coverage for mobile sensor networks," in Proc. IEEE Int. Conf. Robot. Autom., New Orleans, LA, May 2004, pp. 165-172.
11. J. Lin, A. S. Morse, and B. D. O. Anderson, "The multi-agent rendezvous problem," in Proc. 42ndIEEE Conf. Decisi. Control, Maui, HI, Dec. 2003, pp. 1508-1513.
12. H. W. Kuhn, "The hungarian method for the assignment problem," Naval Res. Logist., vol. 2, no. 1-2, pp. 83-97, Mar. 1955.
13. M. R. Garey and D. S. Johnson, Computers and Intractability: A Guide to the Theory of NP-Completeness. New York: W. H. Freeman, 1979.
14. H. A. Almohamad and S. O. Duffuaa, "A linear programming approach for the weighted graph matching problem," IEEE Trans. Pattern Anal. Mach. Intell., vol. 15, no. 5, pp. 522-525, May 1993.
15. H. Wolkowicz, "Semidefinite programming approaches to the quadratic assignment problem," in Nonlinear Assignment Problems: Algorithms and Applications (Combinatorial Optimization). Norwell, MA: Kluwer, 2000, pp. 143-174.
16. M. M. Zavlanos and G. J. Pappas, "A dynamical systems approach to weighted graph matching," in Proc. 45th IEEE Conf. Decis. Control San Diego, CA, Dec. 2006, pp. 3492-3497.
17. S. Kloder and S. Hutchinson, "Path planning for permutation-invariant multirobot formations," IEEE Trans. Robot., vol. 22, no. 4, pp. 650-665, Aug. 2006.
18. M. Ji, S. Azuma, and M. Egerstedt, "Role-assignment in multi-agent coordination," Int. J. Assist. Robot. Mechatron., vol. 7, no. 1, pp. 32-40, Mar. 2006.
19. M. M. Zavlanos and G. J. Pappas, "Sensor-based dynamic assignmnet in distributed motion planning," in Proc. IEEE Int. Conf. Robot. Autom. Rome, Italy, Apr. 2007, pp. 3333-3338.
20. M. M. Zavlanos and G. J. Pappas, "Dynamic assignmnet in distributed motion planning with limited information," in Proc. Am. Control Conf., New York, Jul. 2007, pp. 1173-1178.
21. D. V. Dimarogonas, S. G. Loizou, K. J. Kyriakopoulos, and M. M. Zavlanos, "A feedback stabilization and collision avoidance scheme for multiple independent non-point agents," Automatica, vol. 42, no. 2, pp. 229-243, Feb. 2006.
22. D. E. Koditschek and E. Rimon, "Robot navigation functions on manifolds with boundary," Adv. Appl. Math., vol. 11, no. 4, pp. 412-442, Dec. 1990.
23. J. O. Kim and P. K. Khosla, "Real-time obstacle avoidance using harmonic potential functions," IEEE Trans. Robot. Autom., vol. 8, no. 3, pp. 338-349, Jun. 1992.
24. T. A. Henzinger, "The theory of hybrid automata," in Proc. 11th Annu. IEEE Symp. Logic Comput. Sci., New Brunswick, NJ, Jul. 1996, pp. 278-292.
25. N. A. Lynch, R. Segala, and F. W. Vaandrager, "Hybrid I/O automata," Inf. Comput., vol. 185, no. 1, pp. 105-157, Aug. 2003.
26. D. V. Dimarogonas, K. J. Kyriakopoulos, and D. Theodorakatos, "Totally distributed motion control of sphere world multi-agent systems using decentralized navigation functions," in Proc. IEEE Int. Conf. Robot. Autom., Orlando, FL, May 2006, pp. 2430-2435.