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Tony Alan Wood

A Distributed Augmenting Path Approach for the Bottleneck Assignment Problem

We develop an algorithm to solve the bottleneck assignment problem (BAP) that is amenable to having computation distributed over a network of agents. This consists of exploring how each component of the algorithm can be distributed, with a focus on one com ...

Ieee-Inst Electrical Electronics Engineers Inc2024

Certification of Bottleneck Task Assignment With Shortest Path Criteria

Maryam Kamgarpour, Tony Alan Wood

Minimising the longest travel distance for a group of mobile robots with interchangeable goals requires knowledge of the shortest length paths between all robots and goal destinations. Determining the exact length of the shortest paths in an environment wi ...

2023

Gradient free cooperative seeking of a moving source

Tony Alan Wood

In this paper, we consider the optimisation of a time varying scalar field by a network of agents with no gradient information. We propose a composite control law, blending extremum seeking with formation control in order to converge to the extrema faster ...

2023

Auction algorithm sensitivity for multi-robot task allocation

Tony Alan Wood

We consider the problem of finding a low-cost allocation and ordering of tasks between a team of robots in a d-dimensional, uncertain, landscape, and the sensitivity of this solution to changes in the cost function.Various algorithms have been shown to giv ...

2023

Probabilistic Data Association for Semantic SLAM at Scale

Tony Alan Wood

With advances in image processing and machine learning, it is now feasible to incorporate semantic information into the problem of simultaneous localisation and mapping (SLAM). Previously, SLAM was carried out using lower level geometric features (points, ...

IEEE2022

Sensitivity analysis for bottleneck assignment problems

Tony Alan Wood

In assignment problems, decision makers are often interested in not only the optimal assignment, but also the sensitivity of the optimal assignment to perturbations in the assignment weights. Typically, only perturbations to individual assignment weights a ...

2022