The following information was submitted:
Transactions: WSEAS TRANSACTIONS ON SYSTEMS AND CONTROL
Transactions ID Number: 28-338
Full Name: Fernando A. C. C. Fontes
Position: Associate Professor
Age: ON
Sex: Male
Address: Dept. Mathematics for Science and Technology, Universidade do Minho, Campus de Azurém, 4800-058 Guimaraes, Portugal
Country: PORTUGAL
Tel: +351 253 510 400
Tel prefix:
Fax: +351 253 510 401
E-mail address: ffontes@mct.uminho.pt
Other E-mails: faf@fe.up.pt
Title of the Paper: Optimal Reorganization of Agent Formations
Authors as they appear in the Paper: Dalila B. M. M. Fontes, Fernando A. C. C. Fontes
Email addresses of all the authors: ffontes@mct.uminho.pt, fontes@fep.up.pt
Number of paper pages: 10
Abstract: In this article we address the problem of determining how a structured formation of autonomous undistinguishable agents can be reorganized into another, eventually non-rigid, formation based on changes in the environment, perhaps unforeseeable. The methodology can also be used to correctly position the agents into a particular formation from an initial set of random locations. Given the information on the agents current location and the final locations, there are n! possible permutations for the n agents. Among these, we seek one that minimizes a total relative measure, e.g. distance traveled by the agents during the switching. We propose a dynamic programming methodology to solve this problem to optimality. Possible applications can be found in surveillance, damage assessment, chemical or biological monitoring, among others, where the switching to another formation, not necessarily predefined, may be required due to changes in the environment.
Keywords: Combinatorial optimization, dynamic programming, formation reorganization, formation control, autonomous agents.
EXTENSION of the file: .pdf
Special (Invited) Session: Optimal Formation Switching
Organizer of the Session: 593-212
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