Distributed stochastic multi-vehicle routing in the Euclidean plane with no communications

This paper presents an algorithm for the multi-vehicle routing problem with no communications among the vehicles. The scenario consists in a convex Euclidean mission space, where targets are generated according to a Poisson distribution in time and to a generic continuous spatial distribution. The targets must be visited by the vehicles, which, therefore, must act in coordination. Even if no communications are required, the proposed routing strategy succeeds in effectively partitioning themission space among the vehicles: at lowtarget generation rates, the algorithm leads to thewellknown centroidal Voronoi tessellation, whereas at high target generation rates, simulation results show that it has better performances with respect to a reference algorithm with no communications among vehicles.