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Deployment of multi-agent robotic systems in presence of obstacles

Soltani, A ; Sharif University of Technology | 2010

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  1. Type of Document: Article
  2. DOI: 10.1115/ESDA2010-24026
  3. Publisher: 2010
  4. Abstract:
  5. The deployment of multi-agent systems in presence of obstacle deals with autonomous motion of agents toward a specified target by sensing each other and boundaries of obstacles. In this paper, asynchronous, scalable, distributed algorithm is used to deploy agents. Boundaries of obstacles are modeled by virtual agents. Algorithm was implemented by solving continuous n-median problem called generalized Fermat-Weber problem. It is shown that deployment is performed when position of real agents are the geometric median of their Voronoi cells. Simulation results show the validity of the proposed algorithm very well
  6. Keywords:
  7. Deploy agents ; Distributed algorithm ; Fermat-weber problem ; Multi-Agent ; Real agent ; Robotic systems ; Simulation result ; Virtual agent ; Voronoi cell ; Algorithms ; Intelligent agents ; Multi agent systems ; Systems analysis ; Autonomous agents
  8. Source: ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, ESDA2010, 12 July 2010 through 14 July 2010, Istanbul ; Volume 5 , 2010 , Pages 7-12 ; 9780791849194 (ISBN)
  9. URL: http://proceedings.asmedigitalcollection.asme.org/proceeding.aspx?articleid=1618372