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The Center for Control, Dynamical Systems, and Computation University of California at Santa Barbara
 

Summary: The Center for Control, Dynamical Systems, and Computation
University of California at Santa Barbara
Fall 2009 Seminar Series
Presents
Deployment and Territory Partitioning for Gossiping
Robots
Ruggero Carli
Department of Mechanical Engineering
UCSB
Friday, October 30, 2009, 3:00 4:00pm HFH 1104
Abstract:
Deployment, coverage and partitioning are fundamental tasks for robotic networks. Recently proposed
algorithms achieve these tasks under a critical assumption: information is exchanged synchronously
among all agents and long-range communication is possibly required. This work proposes novel de-
ployment and partitioning algorithms that require only gossip communication, i.e., asynchronous, pair
wise, and possibly unreliable communication. Which robot pair communicates at any given time may
be selected deterministically or randomly. A key novel idea is the description of the deployment, cover-
age and partitioning problems as a control system on the space of partitions - in other words, we study
the evolution of the regions assigned to each agent, rather than the evolution of the agents' positions.
The novel gossip algorithms are shown to converge to multicenter Voronoi partitions under appropriate

  

Source: Akhmedov, Azer - Department of Mathematics, University of California at Santa Barbara

 

Collections: Mathematics