DocumentCode :
2095958
Title :
A method of cooperative control using occasional non-local interactions
Author :
Shucker, Brian ; Murphey, Todd ; Bennett, John K.
Author_Institution :
Coll. of Eng., Colorado Univ., Boulder, CO
fYear :
2006
fDate :
15-19 May 2006
Firstpage :
1324
Lastpage :
1329
Abstract :
Current approaches to distributed control involving many robots generally restrict interactions to pairs of robots within a threshold distance. While this allows for provable stability, there are performance costs associated with the lack of long-distance information. We introduce the acute angle switching algorithm, which allows a small number of long-range interactions in addition to interactions with nearby neighbors, without sacrificing provable stability. We prove several formal properties of the acute angle switching algorithm, including system-wide connectivity. Further, we show simulation results demonstrating the efficacy and robustness of multi-robot systems based on the acute angle switching algorithm
Keywords :
cooperative systems; distributed control; multi-robot systems; stability; acute angle switching algorithm; cooperative control; distributed control; multi-robot systems; occasional nonlocal interactions; threshold distance; Animals; Clustering algorithms; Communication system control; Control systems; Costs; Distributed control; Educational institutions; Robot kinematics; Robot sensing systems; Stability;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location :
Orlando, FL
ISSN :
1050-4729
Print_ISBN :
0-7803-9505-0
Type :
conf
DOI :
10.1109/ROBOT.2006.1641892
Filename :
1641892
Link To Document :
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