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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)
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 analyze Greedy Mapping, a simple mapping method that has successfully been used on mobile robots. Greedy Mapping moves the robot from its current location on a shortest path towards a closest unvisited, unscanned or informative location, until the terrain is mapped. Previous work has resulted in upper and lower bounds on its worst-case travel distance(More)