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— Recently, auction methods have been investigated as effective, decentralized methods for multi-robot coordination. Experimental research has shown great potential, but has not been complemented yet by theoretical analysis. In this paper we contribute a theoretical analysis of the performance of auction methods for multi-robot routing. We suggest a generic(More)
Teams of robots are more fault tolerant than single robots, and auctions appear to be promising means for coordinating them. In a recent paper at " Robotics: Science and Systems 2005, " we analyzed a coordination system based on sequential single-item auctions. We showed that the coordination system is simple to implement and computation and communication(More)
We recently noticed an error in our paper, " Local optimization on graphs " , The error is not too serious, in that all of the lemmata, propositions, and theorems are correct as given. However, the divide-and-conquer algorithm in Section 2.1, p. 159, is incomplete. The necessary changes are as follows (all changes are to p. 159): (2) In Steps 1 and 2, " S "(More)
Grids with blocked and unblocked cells are often used to represent continuous 2D and 3D environments in robotics and video games. The shortest paths formed by the edges of 8-neighbor 2D grids can be up to ≈ 8% longer than the shortest paths in the continuous environment. Theta* typically finds much shorter paths than that by propagating information along(More)
It is a basic scheduling problem to sequence a set of precedence-constrained tasks to minimize the number of setups, where the tasks are partitioned into classes that require the same setup. We prove a conjecture in (Ph. that no polynomial-time algorithm for this problem has constant worst-case performance ratio unless P = NP. A very simple algorithm has(More)
We study auction-like algorithms for the distributed allocation of tasks to cooperating agents. To reduce the team cost of sequential single-item auction algorithms, we generalize them to assign more than one additional task during each round, which increases their similarity to combinatorial auction algorithms. We show that, for a given number of(More)
We study pursuit-evasion problems where a number of pursuers have to clear a given graph. We study when polynomial-time algorithms exist to determine how many pursuers are needed to clear a given graph and how a given number of pursuers should move on the graph to clear it with either a minimum sum of their travel distances or minimum task-completion time.(More)