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Synthesis of Controllers to Create, Maintain, and Reconfigure Robot Formations with Communication Constraints

Ayanian, Nora, Kumar, Vijay, and Koditschek, D.E.
University of Pennsylvania

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Abstract
We address the synthesis of controllers for groups of multi-robot systems that enable them to create desired labelled formations andmaintain those formations while travelling through an environmentwith obstacles, with constraints on communication. We assume that individuals in a group are capable of close coordination via high bandwidth communication, but coordination across groups must be limited because communication links are either sporadic or more expensive.We describe a method for developing feedback controllers that is entirely automatic, and provably correct by construction.We provide a framework with which navigation of multiple groups in environments with obstacles is possible. Our framework enables scaling to many groups of robots.
BibTeX entry
@incollection{springerlink:10.1007/978-3-642-19457-3_37,
	Author = {Ayanian, Nora and Kumar, Vijay and Koditschek, Daniel},
	Booktitle = {Robotics Research},
	Editor = {Pradalier, C{\'e}dric and Siegwart, Roland and Hirzinger, Gerhard},
	Pages = {625-642},
	Publisher = {Springer Berlin / Heidelberg},
	Series = {Springer Tracts in Advanced Robotics},
	Title = {Synthesis of Controllers to Create, Maintain, and Reconfigure Robot Formations with Communication Constraints},
	Volume = {70},
	Year = {2011},}
}

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