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Authors: Brendon G. Anderson 1 ; Eva Loeser 2 ; Marissa Gee 3 ; Fei Ren 1 ; Swagata Biswas 1 ; Olga Turanova 1 ; Matt Haberland 1 and Andrea L. Bertozzi 1

Affiliations: 1 UCLA, Dept. of Mathematics, Los Angeles, CA 90095 and U.S.A. ; 2 Brown University, Mathematics Department, Providence, RI 02912 and U.S.A. ; 3 Harvey Mudd College, Dept. of Mathematics, Claremont, CA 91711 and U.S.A.

ISBN: 978-989-758-321-6

Keyword(s): Swarm Robotics, Multi-agent Systems, Coverage, Optimization, Central Limit Theorem.

Related Ontology Subjects/Areas/Topics: Autonomous Agents ; Distributed Control Systems ; Informatics in Control, Automation and Robotics ; Intelligent Control Systems and Optimization ; Mobile Robots and Autonomous Systems ; Robotics and Automation

Abstract: This paper studies a generally applicable, sensitive, and intuitive error metric for the assessment of robotic swarm density controller performance. Inspired by vortex blob numerical methods, it overcomes the shortcomings of a common strategy based on discretization, and unifies other continuous notions of coverage. We present two benchmarks against which to compare the error metric value of a given swarm configuration: nontrivial bounds on the error metric, and the probability density function of the error metric when robot positions are sampled at random from the target swarm distribution. We give rigorous results that this probability density function of the error metric obeys a central limit theorem, allowing for more efficient numerical approximation. For both of these benchmarks, we present supporting theory, computation methodology, examples, and MATLAB implementation code.

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Paper citation in several formats:
G. Anderson, B.; G. Anderson, B.; Loeser, E.; Gee, M.; Ren, F.; Biswas, S.; Turanova, O.; Turanova, O.; Haberland, M.; L. Bertozzi, A. and L. Bertozzi, A. (2018). Quantitative Assessment of Robotic Swarm Coverage.In Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-321-6, pages 91-101. DOI: 10.5220/0006844601010111

@conference{icinco18,
author={Brendon G. Anderson. and Brendon G. Anderson. and Eva Loeser. and Marissa Gee. and Fei Ren. and Swagata Biswas. and Olga Turanova. and Olga Turanova. and Matt Haberland. and Andrea L. Bertozzi. and Andrea L. Bertozzi.},
title={Quantitative Assessment of Robotic Swarm Coverage},
booktitle={Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2018},
pages={91-101},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006844601010111},
isbn={978-989-758-321-6},
}

TY - CONF

JO - Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Quantitative Assessment of Robotic Swarm Coverage
SN - 978-989-758-321-6
AU - G. Anderson, B.
AU - G. Anderson, B.
AU - Loeser, E.
AU - Gee, M.
AU - Ren, F.
AU - Biswas, S.
AU - Turanova, O.
AU - Turanova, O.
AU - Haberland, M.
AU - L. Bertozzi, A.
AU - L. Bertozzi, A.
PY - 2018
SP - 91
EP - 101
DO - 10.5220/0006844601010111

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