Flocks, herds and schools: A distributed behavioral model
SIGGRAPH '87 Proceedings of the 14th annual conference on Computer graphics and interactive techniques
The auction algorithm: a distributed relaxation method for the assignment problem
Annals of Operations Research - Special Issue: Parallel Optimization on Novel Computer Architectures
Handbook of theoretical computer science (vol. A)
The scaling network simplex algorithm
Operations Research - Supplement
Network flows: theory, algorithms, and applications
Network flows: theory, algorithms, and applications
International Journal of Robotics Research
A genuinely polynomial primal simplex algorithm for the assignment problem
Discrete Applied Mathematics
Linear programming
Collective robotics: from social insects to robots
Adaptive Behavior
A polynomial time primal network simplex algorithm for minimum cost flows
Proceedings of the seventh annual ACM-SIAM symposium on Discrete algorithms
Data structures for weighted matching and nearest common ancestors with linking
SODA '90 Proceedings of the first annual ACM-SIAM symposium on Discrete algorithms
An Efficient Implementation of Edmonds' Algorithm for Maximum Matching on Graphs
Journal of the ACM (JACM)
Exhaustive Geographic Search with Mobile Robots Along Space-Filling Curves
CRW '98 Proceedings of the First International Workshop on Collective Robotics
Implementation of algorithms for maximum matching on nonbipartite graphs.
Implementation of algorithms for maximum matching on nonbipartite graphs.
A SOM-based multi-agent architecture for multirobot systems
International Journal of Robotics and Automation
Jointly optimizing data acquisition and delivery in traffic monitoring VANETs
Proceedings of the 2009 ACM symposium on Applied Computing
Emergent behaviour evolution in collective autonomous mobile robots
ICS'08 Proceedings of the 12th WSEAS international conference on Systems
Matrix-Based Discrete Event Control for Surveillance Mobile Robotics
Journal of Intelligent and Robotic Systems
A distributed algorithm for the multi-robot task allocation problem
IEA/AIE'10 Proceedings of the 23rd international conference on Industrial engineering and other applications of applied intelligent systems - Volume Part I
A distributed multi-agent production planning and scheduling framework for mobile robots
Computers and Industrial Engineering
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This work considers the problem of maximum utilization of a set of mobile robots with limited sensor-range capabilities and limited travel distances. The robots are initially in random positions. A set of robots properly guards or covers a region if every point within the region is within the effective sensor range of at least one vehicle. We wish to move the vehicles into surveillance positions so as to guard or cover a region, while minimizing the maximum distance traveled by any vehicle. This problem can be formulated as an assignment problem, in which we must optimally decide which robot to assign to which slot of a desired matrix of grid points. The cost function is the maximum distance traveled by any robot. Assignment problems can be solved very efficiently. Solution times for one hundred robots took only seconds on a Silicon Graphics Crimson workstation. The initial positions of all the robots can be sampled by a central base station and their newly assigned positions communicated back to the robots. Alternatively, the robots can establish their own coordinate system with the origin fixed at one of the robots and orientation determined by the compass bearing of another robot relative to this robot. This paper presents example solutions to the multiple-target-multiple-agent scenario using a matching algorithm. Two separate cases with one hundred agents in each were analyzed using this method. We have found these mobile robot problems to be a very interesting application of optimal assignment algorithms, and we expect this to be a fruitful area for future research.