ICRA'09 Paper Abstract


Paper FrB13.5

Pavone, Marco (Massachusetts Institute of Technology), Arsie, Alessandro (Pennsylvania State University), Frazzoli, Emilio (Massachusetts Institute of Technology), Bullo, Francesco (UCSB)

Equitable Partitioning Policies for Robotic Networks

Scheduled for presentation during the Regular Sessions "Distributed Robot Systems - II" (FrB13), Friday, May 15, 2009, 11:50−12:10, Room: 505

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 21, 2022

Keywords Distributed Robot Systems, Autonomous Agents, Sensor Networks


The most widely applied resource allocation strategy is to balance, or equalize, the total workload assigned to each resource. In mobile multi-agent systems, this principle directly leads to equitable partitioning policies in which (i) the workspace is divided into subregions of equal measure, (ii) there is a bijective correspondence between agents and subregions, and (iii) each agent is responsible for service requests originating within its own subregion. In this paper, we provide the first distributed algorithm that provably allows m agents to converge to an equitable partition of the workspace, from any initial configuration, i.e., globally. Our approach is related to the classic Lloyd algorithm, and provides novel insights into the properties of Power Diagrams. Simulation results are presented and discussed.



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