Citation
Dimitra Panagou, Matthew Turpin, Vijay Kumar. "Decentralized Goal Assignment and Trajectory Generation in Multi-Robot Networks: A Multiple Lyapunov Functions Approach". Proceedings of the 2014 IEEE International Conference on Robotics and Automation (ICRA 2014), IEEE, 31, May, 2014.

Abstract
This paper considers the problem of decentralized goal assignment and trajectory generation for multi-robot networks when only local communication is available, and proposes an approach based on methods related to switched systems and set invariance. A family of Lyapunov-like functions is employed to encode the (local) decision making among candidate goal assignments, under which the agents pick the assignment which results in the shortest total distance to the goals. An additional family of Lyapunov-like barrier functions is activated in the case when the optimal assignment may lead to colliding trajectories, thus maintaining system safety while preserving the convergence guarantees. The proposed switching strategies give rise to feedback control policies which are scalable as the number of agents increases, and therefore are suitable for applications including first-response deployment of robotic networks under limited information sharing. Simulations demonstrate the efficacy of the proposed method.

Electronic downloads

• https://www.src.org/library/publication/p069453/. (Link to publication on SRC website.)
• http://dx.doi.org/10.1109/ICRA.2014.6907857

• HTML

  Dimitra Panagou, Matthew Turpin, Vijay Kumar. <a
  href="http://www.terraswarm.org/pubs/273.html"
  >Decentralized Goal Assignment and Trajectory Generation
  in Multi-Robot Networks: A Multiple Lyapunov Functions
  Approach</a>, Proceedings of the 2014 IEEE
  International Conference on Robotics and Automation (ICRA
  2014), IEEE, 31, May, 2014.

• Plain text

  Dimitra Panagou, Matthew Turpin, Vijay Kumar.
  "Decentralized Goal Assignment and Trajectory
  Generation in Multi-Robot Networks: A Multiple Lyapunov
  Functions Approach". Proceedings of the 2014 IEEE
  International Conference on Robotics and Automation (ICRA
  2014), IEEE, 31, May, 2014.

• BibTeX

  @inproceedings{PanagouTurpinKumar14_DecentralizedGoalAssignmentTrajectoryGenerationInMultiRobot,
      author = {Dimitra Panagou and Matthew Turpin and Vijay Kumar},
      title = {Decentralized Goal Assignment and Trajectory
                Generation in Multi-Robot Networks: A Multiple
                Lyapunov Functions Approach},
      booktitle = {Proceedings of the 2014 IEEE International
                Conference on Robotics and Automation (ICRA 2014)},
      organization = {IEEE},
      day = {31},
      month = {May},
      year = {2014},
      abstract = {This paper considers the problem of decentralized
                goal assignment and trajectory generation for
                multi-robot networks when only local communication
                is available, and proposes an approach based on
                methods related to switched systems and set
                invariance. A family of Lyapunov-like functions is
                employed to encode the (local) decision making
                among candidate goal assignments, under which the
                agents pick the assignment which results in the
                shortest total distance to the goals. An
                additional family of Lyapunov-like barrier
                functions is activated in the case when the
                optimal assignment may lead to colliding
                trajectories, thus maintaining system safety while
                preserving the convergence guarantees. The
                proposed switching strategies give rise to
                feedback control policies which are scalable as
                the number of agents increases, and therefore are
                suitable for applications including first-response
                deployment of robotic networks under limited
                information sharing. Simulations demonstrate the
                efficacy of the proposed method.},
      URL = {http://terraswarm.org/pubs/273.html}
  }
  

Posted by Barb Hoversten on 18 Feb 2014.