Distributed Simultaneous Action and Target Assignment for Multi-Robot Multi-Target Tracking
Robotics
2018-11-07 v2
Abstract
We study a multi-robot assignment problem for multi-target tracking. The proposed problem can be viewed as the mixed packing and covering problem. To deal with a limitation on both sensing and communication ranges, a distributed approach is taken into consideration. A local algorithm gives theoretical bounds on both the running time and approximation ratio to an optimal solution. We employ a local algorithm of max-min linear programs to solve the proposed task. Simulation result shows that a local algorithm is an effective solution to the multi-robot task allocation.
Cite
@article{arxiv.1706.02245,
title = {Distributed Simultaneous Action and Target Assignment for Multi-Robot Multi-Target Tracking},
author = {Yoonchang Sung and Ashish Kumar Budhiraja and Ryan K. Williams and Pratap Tokekar},
journal= {arXiv preprint arXiv:1706.02245},
year = {2018}
}
Comments
6 pages, 9 figures, Published in IEEE International Conference on Robotics and Automation (ICRA), 2018