• Distributed-Infrastructure Multi-Robot Routing using a Helmholtz-Hodge Decomposition 

      Kingston, Peter; Egerstedt, Magnus B. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-12)
      Using graphs and simplicial complexes as models for an environment containing a large number of agents, we provide distributed algorithms based on the Helmholtz-Hodge decomposition that, given desired flow rates on edges ...