Analysis of Dynamic Task Allocation in Multi-Robot Systems
International Journal of Robotics Research
Three-Dimensional Construction with Mobile Robots and Modular Blocks
International Journal of Robotics Research
Stochastic strategies for a swarm robotic assembly system
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Specialization as an optimal strategy under varying external conditions
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
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Distributed assembly tasks, in which large numbers of agents collaborate to produce composite objects out of component parts, require careful algorithm design to ensure behavior that scales well with the numbers of agents and parts. Yet algorithm evaluation, through which design is guided, is complicated by the combinatorial nature of system states over the course of execution. This leads to a situation in which the algorithm design space is often severely cramped by the inefficiency of available analysis techniques. We review several available analysis strategies, and present two techniques for designing distributed algorithms that lend themselves to continuous differential analysis while avoiding catastrophic deviation between discrete and continuous system models. This methodology aims to allow optimization at the macro continuous level to inform parameter choice for discrete, real world systems.