Multi-robot Optimal Deployment Planning Under Communication Constraints

Bus rapid transit (BRT) systems combine vehicles, stations, running ways, and intelligent transportation system elements into a fully integrated system with a unique identity. It has great flexibility in incremental deployment of these BRT elements. Proposed is a deployment planning framework that provides, in a sequence of steps, a general structure for optimal deployment of BRT systems. This framework and its formulation, once operationalized, would provide transit agencies a practical tool for determining the optimal deployment strategy or strategies given budgetary, institutional, and other types of constraints associated with the corridor for which they have decided to deploy BRT. A case study example is provided to illustrate how the proposed framework would be used.

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Fast and scalable multi-robot deployment planning under connectivity constraints

2019 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC) ◽

10.1109/icarsc.2019.8733637 ◽

2019 ◽

Cited By ~ 1

Author(s):

Yaroslav Marchukov ◽

Luis Montano

Keyword(s):

Deployment Planning ◽

Multi Robot

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Multi-robot information driven path planning under communication constraints

Autonomous Robots ◽

10.1007/s10514-019-09890-z ◽

2019 ◽

Vol 44 (5) ◽

pp. 721-737 ◽

Cited By ~ 1

Author(s):

Bradley Woosley ◽

Prithviraj Dasgupta ◽

John G. Rogers ◽

Jeffrey Twigg

Keyword(s):

Path Planning ◽

Communication Constraints ◽

Multi Robot

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Optimal Deployment of Camera Mounted UAVs Performing Search

International Journal of Engineering & Technology ◽

10.14419/ijet.v7i2.21.11859 ◽

2018 ◽

Vol 7 (2.21) ◽

pp. 161

Author(s):

Jeane Marina D’Souza ◽

Siddhartha Suresh Rao ◽

K R. Guruprasad

Keyword(s):

Density Distribution ◽

Voronoi Cell ◽

Uncertainty Reduction ◽

Deployment Strategy ◽

Search Area ◽

Multiple Uavs ◽

Lack Of Information ◽

Optimal Deployment ◽

Simulation Results ◽

Multi Robot

In this paper we address a problem of optimal deployment of camera mounted UAVs for a multi-robot search application. Here multiple UAVs carrying downward facing cameras are required to look for targets of interest in a search area. The lack of information about the presence or absence of targets is modeled as an uncertainty density distribution over the search area and this uncertainty is reduced as the information is gathered using the onboard cameras. The UAVs are required to get deployed so as to maximize the uncertainty reduction. We provide a model for search effectiveness of the camera and use it to formulate a strategy for optimal deployment of UAVs. It is shown that a centroidal Voronoi configuration, where each UAV (camera) is located at the centroid of the corresponding Voronoi cell is an optimal deployment. We provide simulation results to demonstrate that the proposed optimal deployment strategy successfully deploys the UAVs into centroidal Voronoi configuration, which maximizes the uncertainty reduction using cameras as search sensors.

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