Discrete partitioning and coverage control for gossiping robots

IEEE Transactions on Robotics

Volumn 28, Issue 2, 2012, Pages 364-378

  Durham, Joseph W ^a   Carli, Ruggero ^b   Frasca, Paolo ^c   Bullo, Francesco ^d  

^a Kiya Systems   (United States)

^b UNIVERSITY OF PADOVA   (Italy)

^c POLITECNICO DI TORINO   (Italy)

^d Santa Barbara   (United States)

Author keywords

Distributed control; intelligent robots; multirobot systems; optimization

Indexed keywords

ANYTIME ALGORITHM; AS GRAPH; COMPLEX ENVIRONMENTS; COVERAGE CONTROL; DISTRIBUTED CONTROL; FINITE TIME; GRAPH VERTEX; HARDWARE EXPERIMENT; LARGE SCALE SIMULATIONS; MULTI-ROBOT SYSTEMS; NONCONVEX; ONBOARD COMPUTERS; PARTITIONING RULES; PLAYER/STAGE; ROBOT CONTROL SYSTEMS; TWO-COMPONENT;

DISTRIBUTED PARAMETER CONTROL SYSTEMS; DYNAMICAL SYSTEMS; INTELLIGENT ROBOTS; OPTIMIZATION; ROBOTS;

ALGORITHMS;

EID: 84859759176     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2011.2170753     Document Type: Article

References (27)

1. R. Smith, J. Das, H. Heidarsson, A. Pereira, F. Arrichiello, I. Cetnic, L. Darjany, M.-E. Garneau, M. Howard, C. Oberg, M. Ragan, E. Seubert, E. Smith, B. Stauffer, A. Schnetzer, G. Toro-Farmer, D. Caron, B. Jones, and G. Sukhatme, "USC CINAPS builds bridges, " IEEE Robot. Autom. Mag., vol. 17, no. 1, pp. 20-30, Mar. 2010.
2. P. R. Wurman, R. D'Andrea, and M. Mountz, "Coordinating hundreds of cooperative, autonomous vehicles in warehouses, " AI Mag., vol. 29, no. 1, pp. 9-20, 2008.
3. S. Yun, M. Schwager, and D. Rus, "Coordinating construction of truss structures using distributed equal-mass partitioning, " presented at the Int. Symp. Robotics Res., Lucerne, Switzerland, Aug. 2009.
4. F. Bullo, E. Frazzoli, M. Pavone, K. Savla, and S. L. Smith, "Dynamic vehicle routing for robotic systems, " Proc. IEEE, vol. 99, no. 9, pp. 1482-1504, Sep. 2011.
5. A. K. Jain, M. N. Murty, and P. J. Flynn, "Data clustering: A review, " ACM Comput. Surv., vol. 31, no. 3, pp. 264-323, 1999.
6. V. V. Vazirani, Approximation Algorithms. New York: Springer-Verlag, 2001.
7. P. O. Fjällström, "Algorithms for graph partitioning: A survey, " Linköping Electronic Articles Comput. Inform. Sci., vol. 3, no. 10, pp. 1-34, 1998.
8. F.R. Adler and D.M. Gordon, "Optimization, conflict, and nonoverlapping foraging ranges in ants, " Amer. Naturalist, vol. 162, no. 5, pp. 529-543, 2003.
9. F. Bullo, J. Cortés, and S. Martínez, Distributed Control of Robotic Networks (Applied Mathematics Series). Princeton, NJ: PrincetonUniv. Press, 2009, [Online]. Available: http://www.coordinationbook.info
10. S. P. Lloyd, "Least squares quantization in PCM, " IEEE Trans. Inf. Theory, vol. 28, no. 2, pp. 129-137, Mar. 1982.
11. J. Cortés, S. Martínez, T. Karatas, and F. Bullo, "Coverage control for mobile sensing networks, " IEEE Trans. Robot. Autom., vol. 20, no. 2, pp. 243-255, Apr. 2004.
12. M. Zhong and C. G. Cassandras, "Distributed coverage control in sensor network environments with polygonal obstacles, " in Proc. IFAC World Congr., Seoul, Korea, Jul. 2008, pp. 4162-4167.
13. L. C. A. Pimenta, V. Kumar, R. C. Mesquita, and G. A. S. Pereira, "Sensing and coverage for a network of heterogeneous robots, " in Proc. IEEE Conf. Decis. Control, Cancún, México, Dec. 2008, pp. 3947-3952.
14. M. Schwager, D. Rus, and J. J. Slotine, "Decentralized, adaptive coverage control for networked robots, " Int. J. Robot. Res., vol. 28, no. 3, pp. 357-375, 2009.
15. R. Cortez, H. Tanner, and R. Lumia, "Distributed robotic radiation mapping, " in Experimental Robotics (Springer Tracts in Advanced Robotics vol. 54) O. Khatib, V. Kumar, and G. Pappas, Eds. New York: Springer-Verlag, 2009, pp. 147-156.
16. O. Baron, O. Berman, D. Krass, and Q. Wang, "The equitable location problem on the plane, " Eur. J. Oper. Res., vol. 183, no. 2, pp. 578-590, 2007.
17. M. B. Dias, R. Zlot, N. Kalra, and A. Stentz, "Market-based multirobot coordination:Asurvey and analysis, " Proc. IEEE, vol. 94, no. 7, pp. 1257-1270, Jul. 2006.
18. F. Bullo, R. Carli, and P. Frasca, "Gossip coverage control for robotic networks: Dynamical systems on the the space of partitions, " SIAM J. Control Optim., to be published.
19. J.W. Durham, R. Carli, P. Frasca, and F. Bullo, "Discrete partitioning and coverage control with gossip communication, " in Proc. ASME Dyn. Syst. Control Conf., Hollywood, CA, Oct. 2009, pp. 225-232.
20. J. W. Durham, R. Carli, and F. Bullo, "Pairwise optimal coverage control for robotic networks in discretized environments, " in Proc. IEEE Conf. Decis. Control, Atlanta, GA, Dec. 2010, pp. 7286-7291.
21. H. Minc, Nonnegative Matrices. New York: Wiley, 1988.
22. M. de Berg, M. van Kreveld, M. Overmars, and O. Schwarzkopf, Computational Geometry: Algorithms and Applications, 2nd ed. New York: Springer-Verlag, 2000.
23. B. Gerkey, R. T. Vaughan, and A. Howard, "The Player/Stage Project: Tools for multirobot and distributed sensor systems, " in Proc. Int. Conf. Adv. Robot., Coimbra, Portugal, Jun. 2003, pp. 317-323.
24. J. G. Siek, L.-Q. Lee, and A. Lumsdaine. (Jul. 2007). Boost graph library. Available: [Online]. Available: http://www.boost.org, version 1.34.1.
25. S. Thrun, D. Fox, W. Burgard, and F. Dellaert, "Robust Monte Carlo localization for mobile robots, " Artif. Intell., vol. 128, nos. 1-2, pp. 99-141, 2001.
26. J. W. Durham and F. Bullo, "Smooth nearness-diagram navigation, " in Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst., Nice, France, Sep. 2008, pp. 690-695.
27. R. Tempo, G. Calafiore, and F. Dabbene, Randomized Algorithms for Analysis and Control of Uncertain Systems. New York: Springer-Verlag, 2005.