A method of cooperative control using occasional non-local interactions

Brian Shucker; Todd Murphey; John K. Bennett

doi:10.1109/ROBOT.2006.1641892

A method of cooperative control using occasional non-local interactions

Brian Shucker^*, Todd Murphey, John K. Bennett

^*Corresponding author for this work

Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English (US)
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	https://doi.org/10.1109/ROBOT.2006.1641892
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
Country	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

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title = "A method of cooperative control using occasional non-local interactions",

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.",

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Shucker, B, Murphey, T & Bennett, JK 2006, A method of cooperative control using occasional non-local interactions. in Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006. vol. 2006, 1641892, pp. 1324-1329, 2006 IEEE International Conference on Robotics and Automation, ICRA 2006, Orlando, FL, United States, 5/15/06. https://doi.org/10.1109/ROBOT.2006.1641892

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AU - Murphey, Todd

AU - Bennett, John K.

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N2 - 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.

AB - 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.

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ER -

A method of cooperative control using occasional non-local interactions

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