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. We show that the acute angle switching algorithm provides an improvement in performance while retaining the quality of provable stability.
| Original language | English (US) |
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| Title of host publication | Proceedings of the 2006 American Control Conference |
| Pages | 5959-5965 |
| Number of pages | 7 |
| Volume | 2006 |
| State | Published - Dec 1 2006 |
| Event | 2006 American Control Conference - Minneapolis, MN, United States Duration: Jun 14 2006 → Jun 16 2006 |
Other
| Other | 2006 American Control Conference |
|---|---|
| Country/Territory | United States |
| City | Minneapolis, MN |
| Period | 6/14/06 → 6/16/06 |
ASJC Scopus subject areas
- Electrical and Electronic Engineering