Role Assignment in Multi-Agent Coordination

• 영문명: Role Assignment in Multi-Agent Coordination
• 발행기관: 한국과학기술원 인간친화 복지 로봇 시스템 연구센터
• 저자명: Meng Ji Shun-ichi Azuma Magnus Egerstedt
• 간행물 정보: 『International Journal of Assistive Robotics and Mechatronics』International Journal of Assistive Robotics and Mechatronics Vol.7 No.1, 32~40쪽, 전체 9쪽
• 주제분류: 공학 > 제어계측공학
• 파일형태: PDF
• 발행일자: 2006.03.01

영문 초록

  In this paper we study the problem of parameterized assignment. This problem arises when a team of mobile robots has to decide what role to take on in a given planar formation by controlling the rotation and translation of the formation. A suite of suboptimal, but computationally tractable (polynomial time) algorithms are presented, based on a solution to the problem of finding the optimal translation and rotation given a fixed assignment. Numerical examples verify the viability of the proposed, suboptimal solutions.

목차

Abstract
Ⅰ. INTRODUCTION
Ⅱ. BACKGROUND
Ⅲ. PROBLEM FORMULATION
Ⅳ. SUBOPTIMAL SOLUTIONS
Ⅴ. NUMERICAL EXAMPLES
Ⅵ. DISCUSSIONS AND CONCLUSION
ACKNOWLEDGEMENT
REFERENCES

키워드

Coordination Multi-agent control Assignment problem