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.
Deployment of Multi-Agent Robotic Systems in Presence of Obstacles
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Soltani, A, & Sayyaadi, H. "Deployment of Multi-Agent Robotic Systems in Presence of Obstacles." Proceedings of the 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. pp. 7-12. ASME. https://doi.org/10.1115/ESDA2010-24026
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