Title :
Consensus algorithm for robotic agents over packet dropping links
Author :
Srinivasan, Seshadhri ; Ayyagari, Ramakalyan
Author_Institution :
Dept. of Instrum. & Control Eng., Nat. Inst. of Technol.-Tiruchirappalli, Tiruchirappalli, India
Abstract :
Consensus among robotic agents require transmission of consensus variables for achieving consensus and usually wireless channels are employed in such scenarios. In wireless channels packet dropouts are more pronounced than their wired counterparts. The presence of packet dropouts in the channel between the agents make the consensus problem intractible, thereby neccessitate dynamic control and estimation strategies. In this paper, we propose an estimation based consensus algorithm for robotic agents connected over a lossy network.
Keywords :
biomedical engineering; medical robotics; consensus algorithm; dynamic control; estimation strategy; lossy network; packet dropout; packet dropping link; robotic agent; wireless channel; Equations; Estimation; Heuristic algorithms; Kalman filters; Mathematical model; Random variables; Robots; Best Linear Unbiased Estimator (BLUE); Networked Control Systems (NCSs); consensus control; incidence graph; packet dropouts; robotic agents;
Conference_Titel :
Biomedical Engineering and Informatics (BMEI), 2010 3rd International Conference on
Conference_Location :
Yantai
Print_ISBN :
978-1-4244-6495-1
DOI :
10.1109/BMEI.2010.5639776
