Algorithm
The greedy algorithm implemented on the Caltech MVWT is a
cooperative decentralized search algorithm for locating a list
of spatial targets.
In this algorithm, each vehicle has the same list of target locations. It
does the following:
*Each vehicle selects the closest target.
*If two vehicles select the same target, the vehicles arbitrate their target
selection so that the vehicle further away selects a different target.
*The vehicles share their target status lists to prevent redundant searches.
This algorithm is robust against vehicle loss because each vehicle is capable of achieving
the entire mission on its own. It also uses inter-vehicle communication
as a performance accelerator.