Robot coordination for energy-balanced matching and sequence dispatch of robots to events

Lukic, Milan, Barnawi, Ahmed and Stojmenovic, Ivan 2015, Robot coordination for energy-balanced matching and sequence dispatch of robots to events, IEEE transactions on computers, vol. 64, no. 5, pp. 1416-1428, doi: 10.1109/TC.2014.2329689.

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Title Robot coordination for energy-balanced matching and sequence dispatch of robots to events
Author(s) Lukic, Milan
Barnawi, Ahmed
Stojmenovic, Ivan
Journal name IEEE transactions on computers
Volume number 64
Issue number 5
Start page 1416
End page 1428
Total pages 13
Publisher IEEE
Place of publication Piscataway, N.J.
Publication date 2015
ISSN 0018-9340
Keyword(s) Robot coordination
wireless sensor networks
sequence dispatch
centralized and distributed algorithm
energy efficiency
Science & Technology
Computer Science, Hardware & Architecture
Engineering, Electrical & Electronic
Computer Science
Summary Given a set of events and a set of robots, the dispatch problem is to allocate one robot for each event to visit it. In a single round, each robot may be allowed to visit only one event (matching dispatch), or several events in a sequence (sequence dispatch). In a distributed setting, each event is discovered by a sensor and reported to a robot. Here, we present novel algorithms aimed at overcoming the shortcomings of several existing solutions. We propose pairwise distance based matching algorithm (PDM) to eliminate long edges by pairwise exchanges between matching pairs. Our sequence dispatch algorithm (SQD) iteratively finds the closest event-robot pair, includes the event in dispatch schedule of the selected robot and updates its position accordingly. When event-robot distances are multiplied by robot resistance (inverse of the remaining energy), the corresponding energy-balanced variants are obtained. We also present generalizations which handle multiple visits and timing constraints. Our localized algorithm MAD is based on information mesh infrastructure and local auctions within the robot network for obtaining the optimal dispatch schedule for each robot. The simulations conducted confirm the advantages of our algorithms over other existing solutions in terms of average robot-event distance and lifetime.
Language eng
DOI 10.1109/TC.2014.2329689
Field of Research 080109 Pattern Recognition and Data Mining
Socio Economic Objective 970108 Expanding Knowledge in the Information and Computing Sciences
HERDC Research category C1 Refereed article in a scholarly journal
ERA Research output type C Journal article
Copyright notice ©2015, IEEE
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