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Multi-robot drawing simulation: shared token allocation offers better scalability
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A simulation study by Christian Marowski and Byung-Cheol Min compared single-token (component-level) and shared-token (decomposed) task allocation approaches in multi-robot drawing, covering 385 drawings and 1 to 8 robots. Results show that the speedup gains of single-token allocation diminish as team size increases, while the shared-token pipeline achieves higher average speedup and a lower idle-time proportion with larger teams, though it does not shorten completion time for every drawing. Speedups for both approaches are normalized by their respective single-robot completion times. Shared-token allocation allows multiple robots to work simultaneously within the same connected component, with drawings represented as geometric stroke graphs.
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- Task Structure and Scalability in Multi-Robot Drawing: A Simulation Comparison of Single-Token and Shared-Token Allocation
A simulation study compared the speedup effects of two pipelines for multi-robot drawing: single-token (component-level) allocation and shared-token (decomposed) allocation, covering 385 drawings and team sizes of 1 to 8 robots. The results show diminishing speedup gains under single-token allocation; the shared-token pipeline achieved higher mean speedups and lower idle-time shares at larger team sizes, but it did not shorten completion time for every drawing.
arXiv cs.RO ·