Automatic synthesis of controllers for distributed assembly and formation forming

Author

Klavins, Eric

Author_Institution

Dept. of Comput. Sci., California Inst. of Technol., Pasadena, CA, USA

Volume

3

fYear

2002

fDate

2002

Firstpage

3296

Lastpage

3302

Abstract

We consider the task of assembling a large number of self controlled parts (or robots) into copies of a prescribed assembly (or formation). In particular, we introduce a way to synthesize, from a specification of the desired assembly, local controllers to be used by each part which, when taken together, have the global effect of assembling the parts. We pay careful attention to the time and space complexity of the synthesis procedure, showing that the size of the representation of the synthesized controller is polynomial in the size of the specification and that the computational power needed by the controller is low

Keywords

assembling; computational complexity; control system synthesis; controllers; automatic synthesis of controllers; distributed assembly; formation forming; local controllers; robots; self controlled parts; space complexity; time complexity; Automatic control; Communication system control; Computer science; Distributed control; Robot control; Robotic assembly; Size control; System recovery; Table lookup; Tiles;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on

Conference_Location

Washington, DC

Print_ISBN

0-7803-7272-7

Type

conf

DOI

10.1109/ROBOT.2002.1013735

Filename

1013735