Role-Assignment in Multi-Agent Coordination
Egerstedt, Magnus B.
MetadataShow full item record
In this paper we study the problem of parameterized assignment. This problem arises when a team of mobile robots must decide what role to take on in a given planar formation, where the parameters are the rotation and translation of the formation. A suite of suboptimal, but computationally tractable (polynomial time) algorithms are given, based on a solution to the problem of finding the optimal translation and rotation given a fixed assignment. Numerical examples show the viability of the proposed, suboptimal solutions.