Distributed Simultaneous Action and Target Assignment for Multi-Robot Multi-Target Tracking
This addresses task allocation in multi-robot systems for tracking, but it appears incremental as it applies a known local algorithm to a specific domain problem.
The paper tackled the multi-robot multi-target tracking assignment problem by proposing a distributed approach to handle sensing and communication range limitations, achieving theoretical bounds on running time and approximation ratio with simulation results showing effectiveness.
We study a multi-robot assignment problem for multi-target tracking. The proposed problem can be viewed as the mixed packing and covering problem. To deal with a limitation on both sensing and communication ranges, a distributed approach is taken into consideration. A local algorithm gives theoretical bounds on both the running time and approximation ratio to an optimal solution. We employ a local algorithm of max-min linear programs to solve the proposed task. Simulation result shows that a local algorithm is an effective solution to the multi-robot task allocation.