Title:
Probabilistic Analysis of Market-Based Algorithms for Initial Robotic Formations

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dc.contributor.author Viguria Jimenez, Luis Antidio en_US
dc.contributor.author Howard, Ayanna M. en_US
dc.contributor.corporatename Georgia Institute of Technology. School of Electrical and Computer Engineering en_US
dc.contributor.corporatename Centro Avanzado de Tecnologías Aeroespaciales en_US
dc.contributor.corporatename Georgia Institute of Technology. Center for Robotics and Intelligent Machines en_US
dc.date.accessioned 2011-04-19T20:20:39Z
dc.date.available 2011-04-19T20:20:39Z
dc.date.issued 2009-06
dc.description © 2009 The Authors en_US
dc.description DOI: 10.1177/0278364909340333 en_US
dc.description.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. en_US
dc.identifier.citation A. Viguria, A. Howard, "Probabilistic Analysis of Market-Based Algorithms for Initial Robotic Formations,” International Journal of Robotics Research, Vol. 29, No. 9, 1154–1172, August 2010. en_US
dc.identifier.doi 10.1177/0278364909340333
dc.identifier.issn 0278-3649
dc.identifier.uri http://hdl.handle.net/1853/38621
dc.language.iso en_US en_US
dc.publisher Georgia Institute of Technology en_US
dc.publisher.original SAGE Publications en_US
dc.subject Multi-robot teams en_US
dc.subject Task allocation en_US
dc.subject Probabilistic analysis en_US
dc.title Probabilistic Analysis of Market-Based Algorithms for Initial Robotic Formations en_US
dc.type Text
dc.type.genre Article
dspace.entity.type Publication
local.contributor.author Howard, Ayanna M.
local.contributor.corporatename School of Civil and Environmental Engineering
local.contributor.corporatename Institute for Robotics and Intelligent Machines (IRIM)
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