TY - GEN
T1 - Multi-Agent Distributed and Decentralized Geometric Task Allocation
AU - Amir, Michael
AU - Koifman, Yigal
AU - Bloch, Yakov
AU - Barel, Ariel
AU - Bruckstein, Alfred M.
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - We consider the general problem of geometric task allocation, wherein a large, decentralized swarm of simple mobile agents must detect the locations of tasks in the plane and position themselves nearby. The tasks are represented by an a priori unknown demand profile Φ(x,y) that determines how many agents are needed in each location. The agents are autonomous, oblivious, indistinguishable, and have a finite sensing range. They must configure themselves according to Φ using only local information about Φ and about the positions of nearby agents. All agents act according to the same local sensing-based rule of motion, and cannot explicitly communicate nor share information. We propose an approach based on gradient descent over a simple squared error function. We formally show that this approach results in attraction-repulsion dynamics. Repulsion encourages agents to spread out and explore the region to find the tasks, and attraction causes them to accumulate at task locations. The figures in this work are snapshots of simulations that can be viewed at https://youtu.be/1-5f0MnUJag.
AB - We consider the general problem of geometric task allocation, wherein a large, decentralized swarm of simple mobile agents must detect the locations of tasks in the plane and position themselves nearby. The tasks are represented by an a priori unknown demand profile Φ(x,y) that determines how many agents are needed in each location. The agents are autonomous, oblivious, indistinguishable, and have a finite sensing range. They must configure themselves according to Φ using only local information about Φ and about the positions of nearby agents. All agents act according to the same local sensing-based rule of motion, and cannot explicitly communicate nor share information. We propose an approach based on gradient descent over a simple squared error function. We formally show that this approach results in attraction-repulsion dynamics. Repulsion encourages agents to spread out and explore the region to find the tasks, and attraction causes them to accumulate at task locations. The figures in this work are snapshots of simulations that can be viewed at https://youtu.be/1-5f0MnUJag.
UR - http://www.scopus.com/inward/record.url?scp=85184808344&partnerID=8YFLogxK
U2 - 10.1109/CDC49753.2023.10383740
DO - 10.1109/CDC49753.2023.10383740
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AN - SCOPUS:85184808344
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 8355
EP - 8362
BT - 2023 62nd IEEE Conference on Decision and Control, CDC 2023
T2 - 62nd IEEE Conference on Decision and Control, CDC 2023
Y2 - 13 December 2023 through 15 December 2023
ER -