Decentralized Goal Assignment and Trajectory Generation in Multi-Robot Networks: A Multiple Lyapunov Functions Approach
Dimitra Panagou, Matthew Turpin, Vijay Kumar

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.

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  • 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.

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