Jorge Cortés
Professor
Cymer Corporation Endowed Chair
Coalition formation and motion coordination for optimal deployment
M. Ouimet, J. Cortés
Proceedings of the IEEE Conference on Decision and Control and European Control Conference, Orlando, Florida, USA, 2011, pp. 6882-6887
Abstract
This paper presents a distributed algorithmic
solution to achieve network configurations where
agents cluster into coincident groups that are
distributed optimally over the environment. The
motivation for this problem comes from spatial
estimation tasks executed with unreliable sensors.
We propose a probabilistic strategy that combines a
repeated game governing the formation of coalitions
with a spatial motion component governing their
location. We establish the convergence of the
agents to coincident groups of a desired size in
finite time and the asymptotic convergence of the
overall network to the optimal deployment, both with
probability 1. The algorithm is robust to agent
addition and subtraction. From a game perspective,
the algorithm is novel in that the players'
information is limited to neighboring clusters. From
a motion coordination perspective, the algorithm is
novel because it brings together two basic tasks,
rendezvous (individual agents into clusters) and
deployment (clusters in the environment). The
technical approach draws on tools from computational
geometry, game theory, and probability theory.
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Mechanical and Aerospace Engineering,
University of California, San Diego
9500 Gilman Dr,
La Jolla, California, 92093-0411
Ph: 1-858-822-7930
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cortes at ucsd.edu
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