Multi-Agent Rendezvous Algorithm with Rectilinear Decision Domain

  • Kaushik Das
  • Debasish Ghose
Conference paper

DOI: 10.1007/978-3-642-15810-0_21

Part of the Communications in Computer and Information Science book series (CCIS, volume 103)
Cite this paper as:
Das K., Ghose D. (2010) Multi-Agent Rendezvous Algorithm with Rectilinear Decision Domain. In: Vadakkepat P. et al. (eds) Trends in Intelligent Robotics. FIRA 2010. Communications in Computer and Information Science, vol 103. Springer, Berlin, Heidelberg

Abstract

The aim of this paper is to develop a computationally efficient decentralized rendezvous algorithm for a group of autonomous agents. The algorithm generalizes the notion of sensor domain and decision domain of agents to enable implementation of simple computational algorithms. Specifically, the algorithm proposed in this paper uses a rectilinear decision domain (RDD) as against the circular decision domain assumed in earlier work. Because of this, the computational complexity of the algorithm reduces considerably and, when compared to the standard Ando’s algorithm available in the literature, the RDD algorithm shows very significant improvement in convergence time performance. Analytical results to prove convergence and supporting simulation results are presented in the paper.

Keywords

Multi-agent Rendezvous Decision domain Consensus 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  • Kaushik Das
    • 1
  • Debasish Ghose
    • 1
  1. 1.Dept. of AE, Indian Institute of ScienceGCDSLBangaloreIndia

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