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首页> 外文期刊>Journal of Intelligent & Robotic Systems: Theory & Application >A Distributed Algorithm for Area Partitioning in Grid-Shape and Vector-Shape Configurations with Multiple Aerial Robots
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A Distributed Algorithm for Area Partitioning in Grid-Shape and Vector-Shape Configurations with Multiple Aerial Robots

机译：具有多个空中机器人的网格形状和矢量形状配置中的区域划分分布式算法

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摘要

Partitioning strategies have proven to be the more efficient solutions to patrol cooperatively an area with multiple aerial robots from a frequency-based approach. They allow to obtain theoretically the optimal performance keeping periodical communications between the robots. Therefore, it allows to coordinate the robots from a distributed manner even under communications constraints. Assuming that the whole area is divided as a r x c grid, this paper proposes a new distributed algorithm where each robot divides the whole area allocation problem in two (one for its row and another for its column) and solves them in an independent manner based on the coordination variables. Moreover, this new algorithm is validated and compared from a convergence time point of view with respect to other previously presented methods.
机译：事实证明，基于频率的方法，分区策略是与多个空中机器人协作巡逻区域的更有效解决方案。从理论上讲，它们可使机器人之间保持定期通信，从而获得最佳性能。因此，即使在通信限制下，也可以从分布式方式协调机器人。假设将整个区域划分为arxc网格，本文提出了一种新的分布式算法，其中每个机器人将整个区域分配问题分为两部分（一个用于其行，另一个用于其列），并基于协调变量。此外，相对于其他先前提出的方法，从收敛时间的角度验证并比较了该新算法。

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