Navigation-based optimization of stochastic strategies for allocating a robot swarm among multiple sites

Spring Berman, Ádám Halász, M. Ani Hsieh, Vijay Kumar

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

12 Scopus citations

Abstract

We present a decentralized, communication-less approach to the dynamic allocation of a swarm of homogeneous robots to a target distribution among multiple sites. Building on our work in [1], we optimize stochastic control policies for the robots that cause the population to quickly redistribute among the sites while adhering to a limit on inter-site traffic at equilibrium. We propose a way to account for delays due to navigation between sites in our controller synthesis procedure. Control policies that are designed with and without the use of delay statistics are compared for a simulation in which 240 robots distribute themselves among four buildings.

Original languageEnglish (US)
Title of host publicationProceedings of the 47th IEEE Conference on Decision and Control, CDC 2008
Pages4376-4381
Number of pages6
DOIs
StatePublished - Dec 1 2008
Externally publishedYes
Event47th IEEE Conference on Decision and Control, CDC 2008 - Cancun, Mexico
Duration: Dec 9 2008Dec 11 2008

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0191-2216

Other

Other47th IEEE Conference on Decision and Control, CDC 2008
CountryMexico
CityCancun
Period12/9/0812/11/08

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

Cite this

Berman, S., Halász, Á., Hsieh, M. A., & Kumar, V. (2008). Navigation-based optimization of stochastic strategies for allocating a robot swarm among multiple sites. In Proceedings of the 47th IEEE Conference on Decision and Control, CDC 2008 (pp. 4376-4381). [4739482] (Proceedings of the IEEE Conference on Decision and Control). https://doi.org/10.1109/CDC.2008.4739482