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

fYear

2008

fDate

19-23 May 2008

Firstpage

134

Lastpage

139

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on

Conference_Location

Pasadena, CA

ISSN

1050-4729

Print_ISBN

978-1-4244-1646-2

Electronic_ISBN

1050-4729

Type

conf

DOI

10.1109/ROBOT.2008.4543198

Filename

4543198