ICRA'09 Paper Abstract


Paper FrD13.3

Viguria, Antidio (Georgia Institute of Technology), Howard, Ayanna (Georgia Institute of Technology)

A Probabilistic Model for the Performance Analysis of a Distributed Task Allocation Algorithm

Scheduled for presentation during the Regular Sessions "Distributed Robot Systems - IV" (FrD13), Friday, May 15, 2009, 16:10−16:30, 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 24, 2022

Keywords Distributed Robot Systems, Planning, Scheduling and Coordination, Sensor Networks


In this paper we extend our previous work where the mean of the global cost was used as a performance metric for distributed task allocation algorithms. In this case, we move a step forward and calculate the variance of the global cost. This second parameter gives us a better understanding of the distributed algorithm performance, i.e., we can estimate how much the algorithm behavior diverts from its mean. The normal distribution, computed from the theoretical mean and variance, is shown to be suitable for modeling the global cost.This approximation enables us to compare our algorithm theoretically in different cases.



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