A Distributed Algorithm for Area Partitioning in Grid-Shape and Vector-Shape Configurations with Multiple Aerial Robots

Partitioning strategies have proven to be the more efficient solutions to patrol cooperatively an area with multiple aerial robots from a frequency-based approach. They allow to obtain theoretically the optimal performance keeping periodical communications between the robots. Therefore, it allows to...

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Veröffentlicht in:Journal of intelligent & robotic systems Jg. 84; H. 1-4; S. 543 - 557
Hauptverfasser: Acevedo, José Joaquín, Arrue, Begoña C., Maza, Ivan, Ollero, Anibal
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Dordrecht Springer Netherlands 01.12.2016
Springer Nature B.V
Schlagworte:
Aerials
Algorithms
Allocations
Artificial Intelligence
Control
Convergence
Electrical Engineering
Engineering
Mechanical Engineering
Mechatronics
Optimization
Partitioning
Robotics
Robots
Strategy
Unmanned Aerial System
Unmanned Aircraft System
Coordination Variable
Intell Robot
Convergence Time
ISSN:0921-0296, 1573-0409
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Zusammenfassung:Partitioning strategies have proven to be the more efficient solutions to patrol cooperatively an area with multiple aerial robots from a frequency-based approach. They allow to obtain theoretically the optimal performance keeping periodical communications between the robots. Therefore, it allows to coordinate the robots from a distributed manner even under communications constraints. Assuming that the whole area is divided as a r × c grid, this paper proposes a new distributed algorithm where each robot divides the whole area allocation problem in two (one for its row and another for its column) and solves them in an independent manner based on the coordination variables. Moreover, this new algorithm is validated and compared from a convergence time point of view with respect to other previously presented methods.
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ISSN:0921-0296
1573-0409
DOI:10.1007/s10846-015-0272-5