Matches in SemOpenAlex for { <https://semopenalex.org/work/W2891487062> ?p ?o ?g. }
Showing items 1 to 77 of
77
with 100 items per page.
- W2891487062 abstract "This paper presents algorithms to simultaneously compute the optimal assignments and formation parameters for a team of robots from a given initial formation to a variable goal formation (where the shape of the goal formation is given, and its scale and location parameters must be optimized). We assume the <tex xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>$n$</tex> robots are identical spheres. We use the sum of squared travel distances as the objective function to be minimized, which also ensures that the trajectories are collision free. We show that this assignment with variable goal formation problem can be transformed to a linear sum assignment problem (LSAP) with pseudo costs that we establish are independent of the formation parameters. The transformed problem can then be solved using the Hungarian algorithm in O (n <sup xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>3</sup> ) time. Thus the assignment problem with variable goal formations using this new approach has the same O (n <sup xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>3</sup> ) time complexity as the standard assignment problem with fixed goal formations. Results from simulations on 200 and 600 robots are presented to show the algorithm is sufficiently fast for practical applications." @default.
- W2891487062 created "2018-09-27" @default.
- W2891487062 creator A5002379534 @default.
- W2891487062 creator A5088439425 @default.
- W2891487062 date "2018-05-01" @default.
- W2891487062 modified "2023-09-23" @default.
- W2891487062 title "Simultaneous Optimization of Assignments and Goal Formations for Multiple Robots" @default.
- W2891487062 cites W1964462572 @default.
- W2891487062 cites W1995447544 @default.
- W2891487062 cites W2014192044 @default.
- W2891487062 cites W2025764057 @default.
- W2891487062 cites W2144827113 @default.
- W2891487062 cites W2153159477 @default.
- W2891487062 cites W2157488300 @default.
- W2891487062 cites W2171541671 @default.
- W2891487062 cites W2202063402 @default.
- W2891487062 cites W2282034761 @default.
- W2891487062 cites W2476974423 @default.
- W2891487062 cites W2608775622 @default.
- W2891487062 cites W4245800248 @default.
- W2891487062 cites W4250589301 @default.
- W2891487062 doi "https://doi.org/10.1109/icra.2018.8460542" @default.
- W2891487062 hasPublicationYear "2018" @default.
- W2891487062 type Work @default.
- W2891487062 sameAs 2891487062 @default.
- W2891487062 citedByCount "7" @default.
- W2891487062 countsByYear W28914870622019 @default.
- W2891487062 countsByYear W28914870622020 @default.
- W2891487062 countsByYear W28914870622021 @default.
- W2891487062 countsByYear W28914870622022 @default.
- W2891487062 countsByYear W28914870622023 @default.
- W2891487062 crossrefType "proceedings-article" @default.
- W2891487062 hasAuthorship W2891487062A5002379534 @default.
- W2891487062 hasAuthorship W2891487062A5088439425 @default.
- W2891487062 hasConcept C11413529 @default.
- W2891487062 hasConcept C114614502 @default.
- W2891487062 hasConcept C126255220 @default.
- W2891487062 hasConcept C134306372 @default.
- W2891487062 hasConcept C14036430 @default.
- W2891487062 hasConcept C154945302 @default.
- W2891487062 hasConcept C182365436 @default.
- W2891487062 hasConcept C33923547 @default.
- W2891487062 hasConcept C41008148 @default.
- W2891487062 hasConcept C78458016 @default.
- W2891487062 hasConcept C85044808 @default.
- W2891487062 hasConcept C86803240 @default.
- W2891487062 hasConcept C90509273 @default.
- W2891487062 hasConceptScore W2891487062C11413529 @default.
- W2891487062 hasConceptScore W2891487062C114614502 @default.
- W2891487062 hasConceptScore W2891487062C126255220 @default.
- W2891487062 hasConceptScore W2891487062C134306372 @default.
- W2891487062 hasConceptScore W2891487062C14036430 @default.
- W2891487062 hasConceptScore W2891487062C154945302 @default.
- W2891487062 hasConceptScore W2891487062C182365436 @default.
- W2891487062 hasConceptScore W2891487062C33923547 @default.
- W2891487062 hasConceptScore W2891487062C41008148 @default.
- W2891487062 hasConceptScore W2891487062C78458016 @default.
- W2891487062 hasConceptScore W2891487062C85044808 @default.
- W2891487062 hasConceptScore W2891487062C86803240 @default.
- W2891487062 hasConceptScore W2891487062C90509273 @default.
- W2891487062 hasLocation W28914870621 @default.
- W2891487062 hasOpenAccess W2891487062 @default.
- W2891487062 hasPrimaryLocation W28914870621 @default.
- W2891487062 hasRelatedWork W1978042415 @default.
- W2891487062 hasRelatedWork W2017331178 @default.
- W2891487062 hasRelatedWork W2140087070 @default.
- W2891487062 hasRelatedWork W2351491280 @default.
- W2891487062 hasRelatedWork W2371447506 @default.
- W2891487062 hasRelatedWork W2386767533 @default.
- W2891487062 hasRelatedWork W2976797620 @default.
- W2891487062 hasRelatedWork W303980170 @default.
- W2891487062 hasRelatedWork W3086542228 @default.
- W2891487062 hasRelatedWork W3141679561 @default.
- W2891487062 isParatext "false" @default.
- W2891487062 isRetracted "false" @default.
- W2891487062 magId "2891487062" @default.
- W2891487062 workType "article" @default.