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Dynamic assignment in distributed motion planning with limited information

Publication ,  Journal Article
Zavlanos, MM; Pappas, GJ
Published in: Proceedings of the American Control Conference
December 1, 2007

Distributed motion planning of multiple agents raises fundamental and novel problems in control theory and robotics. In this paper, we consider the problem of designing distributed motion algorithms that dynamically assign targets or destinations to multiple homogeneous agents. We achieve this goal using a novel control decomposition. In particular, navigation of every agent to any available destination is due to distributed multi-destination potential fields, while the mutual exclusion property of the final assignment is guaranteed by local coordination protocols among the agents. Integration of the proposed controllers results in a hybrid model for every agent, while the overall system is shown to always converge to a valid assignment and have at most polynomial complexity, dramatically reducing the combinatorial nature of purely discrete assignment problems. We conclude by illustrating our approach through nontrivial computer simulations. ©2007 IEEE.

Duke Scholars

Published In

Proceedings of the American Control Conference

DOI

ISSN

0743-1619

Publication Date

December 1, 2007

Start / End Page

1173 / 1178
 

Citation

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Zavlanos, M. M., & Pappas, G. J. (2007). Dynamic assignment in distributed motion planning with limited information. Proceedings of the American Control Conference, 1173–1178. https://doi.org/10.1109/ACC.2007.4282723
Zavlanos, M. M., and G. J. Pappas. “Dynamic assignment in distributed motion planning with limited information.” Proceedings of the American Control Conference, December 1, 2007, 1173–78. https://doi.org/10.1109/ACC.2007.4282723.
Zavlanos MM, Pappas GJ. Dynamic assignment in distributed motion planning with limited information. Proceedings of the American Control Conference. 2007 Dec 1;1173–8.
Zavlanos, M. M., and G. J. Pappas. “Dynamic assignment in distributed motion planning with limited information.” Proceedings of the American Control Conference, Dec. 2007, pp. 1173–78. Scopus, doi:10.1109/ACC.2007.4282723.
Zavlanos MM, Pappas GJ. Dynamic assignment in distributed motion planning with limited information. Proceedings of the American Control Conference. 2007 Dec 1;1173–1178.

Published In

Proceedings of the American Control Conference

DOI

ISSN

0743-1619

Publication Date

December 1, 2007

Start / End Page

1173 / 1178