A Distributed Algorithm for Un-balanced Partitioning of a Swarm of Autonomous Mobile Robots and its Performance Analysis

摘要

Systems of independently operating swarm of mobile robots have been studied from a distributed point of view. This paper studies the problem of partitioning of any swarm of autonomous mobile robots and reviews the unbalanced algorithm [4]. The algorithm U_PART partitions the swarm of robots in an unbalanced manner and allocates them in different groups according to their ranks. The paper also includes the performance analysis of the unbalanced algorithm over the balanced algorithm and examines their effects via different examples.