Target assignment for robotic networks: Asymptotic performance under limited communication

@article{Smith2007TargetAF,
  title={Target assignment for robotic networks: Asymptotic performance under limited communication},
  author={Stephen L. Smith and Francesco Bullo},
  journal={2007 American Control Conference},
  year={2007},
  pages={1155-1160}
}
We are given an equal number of mobile robotic agents, and distinct target locations. Each agent has simple integrator dynamics, a limited communication range, and knowledge of the position of every target. We address the problem of designing a distributed algorithm that allows the group of agents to divide the targets among themselves and, simultaneously, leads each agent to reach its unique target. We do not require connectivity of the communication graph at any time. We introduce a novel… CONTINUE READING
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