Role Assignment in Multi-Agent Coordination
Role Assignment in Multi-Agent Coordination
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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.
Abstract<BR>Ⅰ. INTRODUCTION<BR>Ⅱ. BACKGROUND<BR>Ⅲ. PROBLEM FORMULATION<BR>Ⅳ. SUBOPTIMAL SOLUTIONS<BR>Ⅴ. NUMERICAL EXAMPLES<BR>Ⅵ. DISCUSSIONS AND CONCLUSION<BR>ACKNOWLEDGEMENT<BR>REFERENCES<BR>
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