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Deployment of Multi-Agent Robotic Systems in Presence of Obstacles

[+] Author Affiliations
Ali Soltani, Hassan Sayyaadi

Sharif University of Technology, Tehran, Iran

Paper No. ESDA2010-24026, pp. 7-12; 6 pages
doi:10.1115/ESDA2010-24026
From:
  • ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis
  • ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, Volume 5
  • Istanbul, Turkey, July 12–14, 2010
  • Conference Sponsors: International
  • ISBN: 978-0-7918-4919-4 | eISBN: 978-0-7918-3877-8
  • Copyright © 2010 by ASME

abstract

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.

Copyright © 2010 by ASME

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