A method of cooperative control using occasional non-local interactions

Brian Shucker*, Todd Murphey, John K. Bennett

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

20 Scopus citations

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 languageEnglish (US)
Title of host publicationProceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages1324-1329
Number of pages6
Volume2006
DOIs
StatePublished - Dec 27 2006
Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
Duration: May 15 2006May 19 2006

Other

Other2006 IEEE International Conference on Robotics and Automation, ICRA 2006
CountryUnited States
CityOrlando, FL
Period5/15/065/19/06

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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