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This paper presents a decentralized control policy for symmetric formations in multi-agent systems. It is shown that n agents, each one pursuing its leading neighbor along the line of sight rotated by a common offset angle α, eventually converge to a single point, a circle or a logarithmic spiral pattern, depending on the value of α. In the final part of(More)
In this paper we present a novel probabilistic sampling-based motion planning algorithm called the Fast Marching Tree algorithm (FMT*). The algorithm is specifically aimed at solving complex motion planning problems in high-dimensional configuration spaces. This algorithm is proven to be asymptotically optimal and is shown to converge to an optimal solution(More)
In this paper we present queueing-theoretical methods for the modeling, analysis, and control of autonomous mobility-on-demand (MOD) systems wherein robotic, self-driving vehicles transport customers within an urban environment and rebalance themselves to ensure acceptable quality of service throughout the network. We first cast an autonomous MOD system(More)
The objective of this work is to provide analytical guidelines and financial justification for the design of shared-vehicle mobility-on-demand systems. Specifically , we consider the fundamental issue of determining the appropriate number of vehicles to field in the fleet, and estimate the financial benefits of several models of car sharing. As a case(More)
The MIT Faculty has made this article openly available. Please share how this access benefits you. Your story matters. Abstract— In this paper, we study the problem of designing motion strategies for a team of mobile agents, required to fulfill request for on-site service in a given planar region. In our model, each service request is generated by a(More)
—A widely applied strategy for workload sharing is to equalize the workload assigned to each resource. In mobile multi-agent systems, this principle directly leads to equitable partitioning policies whereby (i) the environment is equitably divided into subregions of equal measure, (ii) one agent is assigned to each subregion, and (iii) each agent is(More)
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use. The MIT Faculty has made this article openly available. Please share how this access benefits you. Your story matters. Abstract. In this paper we introduce a dynamic vehicle routing problem in(More)
—In this paper we develop methods for maximizing the throughput of a mobility-on-demand urban transportation system. We consider a finite group of shared vehicles, located at a set of stations. Users arrive at the stations, pickup vehicles, and drive (or are driven) to their destination station where they drop-off the vehicle. When some origins and(More)
Pickup and delivery problems (PDPs), in which objects or people have to be transported between specific locations, are among the most common combinatorial problems in real-world logistical operations. A widely-encountered type of PDP is the Stacker Crane Problem (SCP), where each com-modity/customer is associated with a pickup location and a delivery(More)