Efficient Routing Algorithms for Multiple Vehicles With no Explicit Communications
In this paper, we consider a class of dynamic vehicle routing problems, in which a number of mobile agents in the plane must visit target points generated over time by a stochastic process. It is desired to design motion coordination strategies in order to minimize the expected time between the appe...
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| Format: | Article |
| Language: | en_US |
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Institute of Electrical and Electronics Engineers
2010
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| Online Access: | http://hdl.handle.net/1721.1/52393 https://orcid.org/0000-0002-0505-1400 |
| _version_ | 1811084690330746880 |
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| author | Savla, Ketan Frazzoli, Emilio Arsie, Alessandro |
| author2 | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics |
| author_facet | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics Savla, Ketan Frazzoli, Emilio Arsie, Alessandro |
| author_sort | Savla, Ketan |
| collection | MIT |
| description | In this paper, we consider a class of dynamic vehicle routing problems, in which a number of mobile agents in the plane must visit target points generated over time by a stochastic process. It is desired to design motion coordination strategies in order to minimize the expected time between the appearance of a target point and the time it is visited by one of the agents. We propose control strategies that, while making minimal or no assumptions on communications between agents, provide the same level of steady-state performance achieved by the best known decentralized strategies. In other words, we demonstrate that inter-agent communication does not improve the efficiency of such systems, but merely affects the rate of convergence to the steady state. Furthermore, the proposed strategies do not rely on the knowledge of the details of the underlying stochastic process. Finally, we show that our proposed strategies yield an efficient, pure Nash equilibrium in a game theoretic formulation of the problem, in which each agent's objective is to maximize the expected value of the ldquotime spent alonerdquo at the next target location. Simulation results are presented and discussed. |
| first_indexed | 2024-09-23T12:56:04Z |
| format | Article |
| id | mit-1721.1/52393 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T12:56:04Z |
| publishDate | 2010 |
| publisher | Institute of Electrical and Electronics Engineers |
| record_format | dspace |
| spelling | mit-1721.1/523932022-09-28T10:57:23Z Efficient Routing Algorithms for Multiple Vehicles With no Explicit Communications Savla, Ketan Frazzoli, Emilio Arsie, Alessandro Massachusetts Institute of Technology. Department of Aeronautics and Astronautics Massachusetts Institute of Technology. Laboratory for Information and Decision Systems Frazzoli, Emilio Savla, Ketan Frazzoli, Emilio spatial games multi-agent systems facility location Dynamic vehicle routing In this paper, we consider a class of dynamic vehicle routing problems, in which a number of mobile agents in the plane must visit target points generated over time by a stochastic process. It is desired to design motion coordination strategies in order to minimize the expected time between the appearance of a target point and the time it is visited by one of the agents. We propose control strategies that, while making minimal or no assumptions on communications between agents, provide the same level of steady-state performance achieved by the best known decentralized strategies. In other words, we demonstrate that inter-agent communication does not improve the efficiency of such systems, but merely affects the rate of convergence to the steady state. Furthermore, the proposed strategies do not rely on the knowledge of the details of the underlying stochastic process. Finally, we show that our proposed strategies yield an efficient, pure Nash equilibrium in a game theoretic formulation of the problem, in which each agent's objective is to maximize the expected value of the ldquotime spent alonerdquo at the next target location. Simulation results are presented and discussed. Air Force Office of Scientific Research (Grant F49620–02-1–0325) National Science Foundation (Grants 0325716, 0715025, 0705451, and 0705453) 2010-03-08T20:05:24Z 2010-03-08T20:05:24Z 2009-09 2009-01 Article http://purl.org/eprint/type/JournalArticle 0018-9286 http://hdl.handle.net/1721.1/52393 Arsie, A., K. Savla, and E. Frazzoli. “Efficient Routing Algorithms for Multiple Vehicles With no Explicit Communications.” Automatic Control, IEEE Transactions on 54.10 (2009): 2302-2317. © 2009 IEEE https://orcid.org/0000-0002-0505-1400 en_US http://dx.doi.org/10.1109/tac.2009.2028954 IEEE Transactions on Automatic Control Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use. application/pdf Institute of Electrical and Electronics Engineers IEEE |
| spellingShingle | spatial games multi-agent systems facility location Dynamic vehicle routing Savla, Ketan Frazzoli, Emilio Arsie, Alessandro Efficient Routing Algorithms for Multiple Vehicles With no Explicit Communications |
| title | Efficient Routing Algorithms for Multiple Vehicles With no Explicit Communications |
| title_full | Efficient Routing Algorithms for Multiple Vehicles With no Explicit Communications |
| title_fullStr | Efficient Routing Algorithms for Multiple Vehicles With no Explicit Communications |
| title_full_unstemmed | Efficient Routing Algorithms for Multiple Vehicles With no Explicit Communications |
| title_short | Efficient Routing Algorithms for Multiple Vehicles With no Explicit Communications |
| title_sort | efficient routing algorithms for multiple vehicles with no explicit communications |
| topic | spatial games multi-agent systems facility location Dynamic vehicle routing |
| url | http://hdl.handle.net/1721.1/52393 https://orcid.org/0000-0002-0505-1400 |
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