Distributed Algorithm for Selecting Leaders for Supervisory Robotic Swarm Control

Michal A. Lewkowicz; Rohil Agarwal; Nilanjan Chakraborty

doi:10.1109/MRS.2019.8901091

Distributed Algorithm for Selecting Leaders for Supervisory Robotic Swarm Control

Michal A. Lewkowicz
, Rohil Agarwal
, Nilanjan Chakraborty

Mechanical Engineering

Yale University
Franklin W. Olin College of Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Scopus citations

Abstract

In this paper, we present a distributed algorithm for selecting multiple leaders in a swarm that can be used for supervisory control of the swarm system. The usage of optimally placed leaders within swarms can minimize the communication requirements for information dissemination across a robotic network. We formulate the leader selection problem as a combinatorial optimization problem and provide a novel characterization of the optimal solution based on the notion of Voronoi decomposition of a graph. Based on this characterization, we present an incremental, distributed algorithm to compute the leader set. We present simulation results to show that our approach results in optimal performance.

Original language	English
Title of host publication	International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	112-118
Number of pages	7
ISBN (Electronic)	9781728128764
DOIs	https://doi.org/10.1109/MRS.2019.8901091
State	Published - Aug 2019
Event	2nd International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2019 - New Brunswick, United States Duration: Aug 22 2019 → Aug 23 2019

Publication series

Name	International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2019

Conference

Conference	2nd International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2019
Country/Territory	United States
City	New Brunswick
Period	08/22/19 → 08/23/19

Keywords

Distributed Optimization
Leader Selection
Swarm Robotics

Access to Document

10.1109/MRS.2019.8901091

Cite this

Lewkowicz, M. A., Agarwal, R., & Chakraborty, N. (2019). Distributed Algorithm for Selecting Leaders for Supervisory Robotic Swarm Control. In International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2019 (pp. 112-118). Article 8901091 (International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/MRS.2019.8901091

Lewkowicz, Michal A. ; Agarwal, Rohil ; Chakraborty, Nilanjan. / Distributed Algorithm for Selecting Leaders for Supervisory Robotic Swarm Control. International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 112-118 (International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2019).

@inproceedings{7a760d8c1ece491c95bfb99545c6ab78,

title = "Distributed Algorithm for Selecting Leaders for Supervisory Robotic Swarm Control",

abstract = "In this paper, we present a distributed algorithm for selecting multiple leaders in a swarm that can be used for supervisory control of the swarm system. The usage of optimally placed leaders within swarms can minimize the communication requirements for information dissemination across a robotic network. We formulate the leader selection problem as a combinatorial optimization problem and provide a novel characterization of the optimal solution based on the notion of Voronoi decomposition of a graph. Based on this characterization, we present an incremental, distributed algorithm to compute the leader set. We present simulation results to show that our approach results in optimal performance.",

keywords = "Distributed Optimization, Leader Selection, Swarm Robotics",

author = "Lewkowicz, \{Michal A.\} and Rohil Agarwal and Nilanjan Chakraborty",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 2nd International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2019 ; Conference date: 22-08-2019 Through 23-08-2019",

year = "2019",

month = aug,

doi = "10.1109/MRS.2019.8901091",

language = "English",

series = "International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2019",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "112--118",

booktitle = "International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2019",

}

Lewkowicz, MA, Agarwal, R & Chakraborty, N 2019, Distributed Algorithm for Selecting Leaders for Supervisory Robotic Swarm Control. in International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2019., 8901091, International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2019, Institute of Electrical and Electronics Engineers Inc., pp. 112-118, 2nd International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2019, New Brunswick, United States, 08/22/19. https://doi.org/10.1109/MRS.2019.8901091

Distributed Algorithm for Selecting Leaders for Supervisory Robotic Swarm Control. / Lewkowicz, Michal A.; Agarwal, Rohil; Chakraborty, Nilanjan.
International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 112-118 8901091 (International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2019).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Distributed Algorithm for Selecting Leaders for Supervisory Robotic Swarm Control

AU - Lewkowicz, Michal A.

AU - Agarwal, Rohil

AU - Chakraborty, Nilanjan

PY - 2019/8

Y1 - 2019/8

N2 - In this paper, we present a distributed algorithm for selecting multiple leaders in a swarm that can be used for supervisory control of the swarm system. The usage of optimally placed leaders within swarms can minimize the communication requirements for information dissemination across a robotic network. We formulate the leader selection problem as a combinatorial optimization problem and provide a novel characterization of the optimal solution based on the notion of Voronoi decomposition of a graph. Based on this characterization, we present an incremental, distributed algorithm to compute the leader set. We present simulation results to show that our approach results in optimal performance.

AB - In this paper, we present a distributed algorithm for selecting multiple leaders in a swarm that can be used for supervisory control of the swarm system. The usage of optimally placed leaders within swarms can minimize the communication requirements for information dissemination across a robotic network. We formulate the leader selection problem as a combinatorial optimization problem and provide a novel characterization of the optimal solution based on the notion of Voronoi decomposition of a graph. Based on this characterization, we present an incremental, distributed algorithm to compute the leader set. We present simulation results to show that our approach results in optimal performance.

KW - Distributed Optimization

KW - Leader Selection

KW - Swarm Robotics

UR - https://www.scopus.com/pages/publications/85075629966

U2 - 10.1109/MRS.2019.8901091

DO - 10.1109/MRS.2019.8901091

M3 - Conference contribution

AN - SCOPUS:85075629966

T3 - International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2019

SP - 112

EP - 118

BT - International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2019

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2nd International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2019

Y2 - 22 August 2019 through 23 August 2019

ER -

Lewkowicz MA, Agarwal R, Chakraborty N. Distributed Algorithm for Selecting Leaders for Supervisory Robotic Swarm Control. In International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 112-118. 8901091. (International Symposium on Multi-Robot and Multi-Agent Systems, MRS 2019). doi: 10.1109/MRS.2019.8901091

Distributed Algorithm for Selecting Leaders for Supervisory Robotic Swarm Control

Abstract

Publication series

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Cite this