Title :
Distributed estimation and control of swarm formation statistics
Author :
Freeman, Randy A. ; Yang, Peng ; Lynch, Kevin M.
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., Northwestern Univ., Evanston, IL
Abstract :
We describe distributed estimation algorithms that allow robots in a communication network to maintain estimates of summary statistics describing the shape of the swarm. We show that these estimators, combined with motion controllers implemented on each robot, result in the swarm formation statistics being driven to desired values in the presence of a changing network topology and the addition and deletion of robots
Keywords :
distributed control; mobile robots; motion control; multi-robot systems; position control; statistics; topology; communication network; distributed control; distributed estimation; motion control; network topology; robot swarm; summary statistics; swarm formation statistics; Communication networks; Communication system control; Control systems; Distributed control; Higher order statistics; Motion control; Motion estimation; Robot sensing systems; Shape; Statistical distributions;
Conference_Titel :
American Control Conference, 2006
Conference_Location :
Minneapolis, MN
Print_ISBN :
1-4244-0209-3
Electronic_ISBN :
1-4244-0209-3
DOI :
10.1109/ACC.2006.1655446
