This Article Full Text (OnlineFirst PDF) Alert me when this article is cited Alert me if a correction is posted Services Email this article to a friend Similar articles in this journal Alert me to new issues of the journal Add to Saved Citations Download to citation manager Request Permissions Request Reprints Add to My Marked Citations Citing Articles Citing Articles via Scopus Google Scholar Articles by Viguria, A. Articles by Howard, A. M Social Bookmarking                         What's this?

Probabilistic Analysis of Market-based Algorithms for Initial Robotic Formations

¹ Center for Advanced Aerospace Technologies (CATEC), Seville, Spain
² School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, GA, USA

^* To whom correspondence should be addressed. E-mail: antidio{at}gatech.edu.

	Abstract

In this paper, we present a probabilistic analysis approach for analyzing market-based algorithms applied to the initial formation problem. These algorithms determine an assignment scheme for associating individual robots with goal positions necessary to achieve a desired formation while minimizing an objective function. The main contribution of this paper is a method that calculates the expected value of the objective function, which allows us to estimate and compare theoretically the performance of two task allocation algorithms. This probabilistic analysis is applied in different runtime scenarios. We validate our approach through both simulations and experiments with real robots.

First published on June 24, 2009
The International Journal of Robotics Research 2009, doi:10.1177/0278364909340333


CiteULike    Complore    Connotea    Del.icio.us    Digg    Reddit    Technorati    Twitter    What's this?