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Multi-Agent Rendezvous Algorithm with Rectilinear Decision Domain

Das, Kaushik and Ghose, Debasish (2010) Multi-Agent Rendezvous Algorithm with Rectilinear Decision Domain. In: 13th Federation-of-International-Robot-soccer-Association Robot World Congress, SEP 15-17, 2010 , Amirit Vishwa Vidyapeetham, Bangalore, INDIA, pp. 162-169.

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Official URL: http://www.springerlink.com/content/v8q056q531q455...


The aim of this paper is to develop a computationally efficient decentralized rendezvous algorithm for a group of autonomous agents. The algorithm generalizes the notion of sensor domain and decision domain of agents to enable implementation of simple computational algorithms. Specifically, the algorithm proposed in this paper uses a rectilinear decision domain (RDD) as against the circular decision domain assumed in earlier work. Because of this, the computational complexity of the algorithm reduces considerably and, when compared to the standard Ando's algorithm available in the literature, the RDD algorithm shows very significant improvement in convergence time performance. Analytical results to prove convergence and supporting simulation results are presented in the paper.

Item Type: Conference Paper
Series.: Communications in Computer and Information Science
Publisher: Springer
Additional Information: Copyright of this article belongs to Springer.
Keywords: Multi-agent;Rendezvous;Decision domain;Consensus
Department/Centre: Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited: 08 Apr 2011 07:19
Last Modified: 30 Jan 2019 06:17
URI: http://eprints.iisc.ac.in/id/eprint/36579

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