When is heterogeneity in the composition of an autonomous robotic team beneficial and when is it detrimental? We investigate and answer this question in the context of a minimally viable model that examines the role of heterogeneous speeds in perimeter defense problems, where defenders share a total allocated speed budget. We consider two distinct problem settings and develop strategies based on dynamic programming and on local interaction rules. We present a theoretical analysis of both approaches and our results are extensively validated using simulations. Interestingly, our results demonstrate that the viability of heterogeneous teams depends on the amount of information available to the defenders. Moreover, our results suggest a universality property: across a wide range of problem parameters the optimal ratio of the speeds of the defenders remains nearly constant.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    The Role of Heterogeneity in Autonomous Perimeter Defense Problems


    Weitere Titelangaben:

    Springer Proceedings in Advanced Robotics


    Beteiligte:
    LaValle, Steven M. (Herausgeber:in) / O’Kane, Jason M. (Herausgeber:in) / Otte, Michael (Herausgeber:in) / Sadigh, Dorsa (Herausgeber:in) / Tokekar, Pratap (Herausgeber:in) / Adler, Aviv (Autor:in) / Mickelin, Oscar (Autor:in) / Ramachandran, Ragesh K. (Autor:in) / Sukhatme, Gaurav S. (Autor:in) / Karaman, Sertac (Autor:in)

    Kongress:

    International Workshop on the Algorithmic Foundations of Robotics ; 2022 ; , MD, USA June 22, 2022 - June 24, 2022



    Erscheinungsdatum :

    2022-12-15


    Format / Umfang :

    17 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    PERIMETER ALERT DEFENSE SYSTEM

    LEEDY JOHN | Europäisches Patentamt | 2021

    Freier Zugriff

    Perimeter alert defense system

    LEEDY JOHN | Europäisches Patentamt | 2021

    Freier Zugriff

    PERIMETER MONITORING USING AUTONOMOUS DRONES

    BRYSON DONALD L / KLINE ERIC V / RAKSHIT SARBAJIT K | Europäisches Patentamt | 2017

    Freier Zugriff

    Perimeter monitoring using autonomous drones

    BRYSON DONALD L / KLINE ERIC V / RAKSHIT SARBAJIT K | Europäisches Patentamt | 2017

    Freier Zugriff