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

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

doi:10.1109/CDC.2008.4739482

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 proceeding › Conference contribution

11 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 language	English (US)
Title of host publication	Proceedings of the 47th IEEE Conference on Decision and Control, CDC 2008
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4376-4381
Number of pages	6
ISBN (Print)	9781424431243
DOIs	https://doi.org/10.1109/CDC.2008.4739482
State	Published - 2008
Externally published	Yes
Event	47th IEEE Conference on Decision and Control, CDC 2008 - Cancun, Mexico Duration: Dec 9 2008 → Dec 11 2008

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Other

Other	47th IEEE Conference on Decision and Control, CDC 2008
Country/Territory	Mexico
City	Cancun
Period	12/9/08 → 12/11/08

ASJC Scopus subject areas

Control and Systems Engineering
Modeling and Simulation
Control and Optimization

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10.1109/CDC.2008.4739482

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). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2008.4739482

Navigation-based optimization of stochastic strategies for allocating a robot swarm among multiple sites. / Berman, Spring; Halász, Ádám; Hsieh, M. Ani et al.
Proceedings of the 47th IEEE Conference on Decision and Control, CDC 2008. Institute of Electrical and Electronics Engineers Inc., 2008. p. 4376-4381 4739482 (Proceedings of the IEEE Conference on Decision and Control).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Berman, S, Halász, Á, Hsieh, MA & 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., 4739482, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., pp. 4376-4381, 47th IEEE Conference on Decision and Control, CDC 2008, Cancun, Mexico, 12/9/08. https://doi.org/10.1109/CDC.2008.4739482

Berman S, Halász Á, Hsieh MA, Kumar V. 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. Institute of Electrical and Electronics Engineers Inc. 2008. p. 4376-4381. 4739482. (Proceedings of the IEEE Conference on Decision and Control). doi: 10.1109/CDC.2008.4739482

Berman, Spring ; Halász, Ádám ; Hsieh, M. Ani et al. / Navigation-based optimization of stochastic strategies for allocating a robot swarm among multiple sites. Proceedings of the 47th IEEE Conference on Decision and Control, CDC 2008. Institute of Electrical and Electronics Engineers Inc., 2008. pp. 4376-4381 (Proceedings of the IEEE Conference on Decision and Control).

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

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