A grid forming target allocation strategy for multi robot systems.

Abstract

In this paper we investigate a class of algorithms for solving a target allocation problem for a team of mobile robots. The problem solved concerns the concurrent solution of the target allocation problem and the motion planning problem, and it is solved for a specific class of targets. Specifically we are studying the solution of the target allocation problem when the targets are structured on a full grid structure. The problem is solved decentralized, with each agent having information regarding its position and its immediate vicinity. The main idea is to transform the problem from a 2D problem in a 1D problem. Time bounds for convergence are also given.