Distributed estimation and control of swarm formation statistics

Randy A. Freeman*, Yang Peng, Kevin M. Lynch

*Corresponding author for this work

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

82 Scopus citations

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.

Original languageEnglish (US)
Title of host publicationProceedings of the 2006 American Control Conference
Pages749-755
Number of pages7
StatePublished - 2006
Event2006 American Control Conference - Minneapolis, MN, United States
Duration: Jun 14 2006Jun 16 2006

Publication series

NameProceedings of the American Control Conference
Volume2006
ISSN (Print)0743-1619

Other

Other2006 American Control Conference
Country/TerritoryUnited States
CityMinneapolis, MN
Period6/14/066/16/06

Funding

Lee Chie Tsang Isaiah is a composer, lecturer, and research Fellow of the Borneo Heritage Research Unit in the Faculty of Humanities, Arts and Heritage at Universiti Malaysia Sabah. He has currently finished his PhD in composition, funded by Universiti Malaysia Sabah (UMS) and The Malaysian Ministry of Higher Education (MOHE), at the University of Huddersfield (United Kingdom) with principal supervisor Professor Liza Lim and co-supervisor Professor Aaron Casiddy. His current work is concerned with exploring and reframing interdisciplinary perspectives related to hybrid oral traditions found in East Malaysia to provoke new possibilities for sounds, spaces and creativity in his compositional work focusing on music and dance collaborations with Indigenous Malaysian references, aural/oral traditions in Hakka poetry, and traditions of pattern making related to Borneo bead work. His music evokes the notion of energy as flowing movement and significant colour bringing together Asian performance aesthetics, western contemporary classical approaches as well as aspects of indigenous East-Malaysian (Kadazandusun) ritual forms.

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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