Probabilistic Analysis of Market-based Algorithms for Initial Robotic Formations

Authors:
Antidio Viguria;Ayanna M. Howard
Affiliations:
Center for Advanced Aerospace Technologies (CATEC),Seville 41309, Spain;School of Electrical and Computer Engineering, GeorgiaInstitute of Technology, Atlanta, GA 30332, USA
Venue:
International Journal of Robotics Research
Year:
2010

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Abstract

In this paper, we present a probabilistic analysis approach for analyzing market-based algorithms applied to the initial formation problem. These algorithms determine an assignment scheme for associating individual robots with goal positions necessary to achieve a desired formation while minimizing an objective function. The main contribution of this paper is a method that calculates the expected value of the objective function, which allows us to estimate and compare theoretically the performance of two task allocation algorithms. This probabilistic analysis is applied in different runtime scenarios. We validate our approach through both simulations and experiments with real robots.