Circular Distribution of Agents using Convex Layers
<|reference_start|>Circular Distribution of Agents using Convex Layers: This article considers the problem of conflict-free distribution of agents on a circular periphery encompassing all agents. The two key elements of the proposed policy include the construction of a set of convex layers (nested convex polygons) using the initial positions of the agents, and a novel search space region for each of the agents. The search space for an agent on a convex layer is defined as the region enclosed between the lines passing through the agent's position and normal to its supporting edges. Guaranteeing collision-free paths, a goal assignment policy designates a unique goal position within the search space of an agent at the initial time itself, requiring no further computation thereafter. In contrast to the existing literature, this work presents a one-shot, collision-free solution to the circular distribution problem by utilizing only the initial positions of the agents. Illustrative examples demonstrate the effectiveness of the proposed policy.<|reference_end|>
@article{kumar2024circular,
    title={Circular Distribution of Agents using Convex Layers},
    author={Gautam Kumar and Ashwini Ratnoo},
    journal={arXiv preprint arXiv:2404.11351},
    year={2024},
    archivePrefix={arXiv},
    eprint={2404.11351},
    primaryClass={cs.MA}
}