Title :
Automatic deployment and formation control of decentralized multi-agent networks
Author :
Smith, Brian S. ; Egerstedt, Magnus ; Howard, Ayanna
Author_Institution :
Sch. of Electr. & Comput. Eng., Georgia Inst. of Technol., Atlanta, GA
Abstract :
Novel tools are needed to deploy multi-agent networks in applications that require a high degree of accuracy in the achievement and maintenance of geometric formations. This is the case when deploying distributed sensing devices across large spatial domains. Through so-called embedded graph grammars (EGGs), this paper develops a method for automatically generating control programs that ensure that a multi-robot network is deployed according to the desired configuration. This paper presents a communication protocol needed for implementing and executing the control programs in an accurate and deadlock-free manner.
Keywords :
control engineering computing; graph grammars; multi-agent systems; multi-robot systems; automatically generating control programs; communication protocol; deadlock-free manner; decentralized multiagent networks; distributed sensing devices; embedded graph grammars; multirobot network; Automatic control; Automatic generation control; Communication system control; Computational geometry; Multiagent systems; Protocols; Robot sensing systems; Robotics and automation; System recovery; USA Councils;
Conference_Titel :
Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on
Conference_Location :
Pasadena, CA
Print_ISBN :
978-1-4244-1646-2
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2008.4543198
