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.
Original language | English (US) |
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Title of host publication | Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006 |
Pages | 1324-1329 |
Number of pages | 6 |
Volume | 2006 |
DOIs | |
State | Published - Dec 27 2006 |
Event | 2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States Duration: May 15 2006 → May 19 2006 |
Other
Other | 2006 IEEE International Conference on Robotics and Automation, ICRA 2006 |
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Country/Territory | United States |
City | Orlando, FL |
Period | 5/15/06 → 5/19/06 |
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering