A Distributed Heuristic for Energy-Efficient Multirobot Multiplace Rendezvous

被引：19
|
作者：
Litus, Yaroslav [1 ]
Zebrowski, Pawel [1 ]
Vaughan, Richard T. [1 ]
机构：
[1] Simon Fraser Univ, Sch Comp Sci, Auton Lab, Burnaby, BC V5A 1S6, Canada
来源：
IEEE TRANSACTIONS ON ROBOTICS | 2009年 / 25卷 / 01期
关键词：
Mobile robot motion planning; multirobot systems; ALGORITHM;
D O I：
10.1109/TRO.2008.2007459
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
We consider the problem of finding a set of trajectories for a heterogeneous group of mobile robots, such that a single service robot can rendezvous with every other member of the team in a prescribed order, and the total travel cost is minimized. We present a simple heuristic controller that runs independently on each robot, yet is guaranteed to achieve an approximation to global solution in bounded time linear in population size. Simulation experiments empirically show that the method finds approximated solutions of near-optimal quality on average.
引用
收藏
页码：130 / 135
页数：6
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