A distributed heuristic for energy-efficient multirobot multiplace rendezvous

Authors:
Yaroslav Litus;Pawel Zebrowski;Richard T. Vaughan
Affiliations:
Autonomy Laboratory, School of Computing Science, Simon Fraser University, Burnaby, BC, Canada;Autonomy Laboratory, School of Computing Science, Simon Fraser University, Burnaby, BC, Canada;Autonomy Laboratory, School of Computing Science, Simon Fraser University, Burnaby, BC, Canada
Venue:
IEEE Transactions on Robotics
Year:
2009

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Abstract

We consider the problem of finding a set of trajectories for a heterogeneous group of mobile robots, such that a single service robot can rendezvous with every other member of the team in a prescribed order, and the total travel cost is minimized. We present a simple heuristic controller that runs independently on each robot, yet is guaranteed to achieve an approximation to global solution in bounded time linear in population size. Simulation experiments empirically show that the methocl finds approximated solutions of near-optimal quality on average.