Rearranging agents in a small space using global controls

Yinan Zhang; Xiaolei Chen; Hang Qi; Devin Balkcom

IROS 2017poster15 citations

Rearranging agents in a small space using global controls

Yinan Zhang, Xiaolei Chen, Hang Qi, Devin Balkcom

Abstract

This paper explores a problem of reconfiguration of a large set of agents using global control signals: right, left, up and down. A field of obstacles guides the reconfiguration by limiting motion in the various directions. This paper extends work by Becker et al. ([4], [5] and [7]), and shows there exists a workspace a constant factor larger than the number of agents that enables complete rearrangement for a rectangle of agents.

BibTeX

@inproceedings{iros2017_rearrangingagent,
  title = {Rearranging agents in a small space using global controls},
  author = {Yinan Zhang and Xiaolei Chen and Hang Qi and Devin Balkcom},
  booktitle = {IROS 2017},
  year = {2017}
}