A scalable distributed algorithm for shape transformation in multi-robot systems

Distributed reconfiguration is an important problem in multi-robot systems such as mobile sensor nets and metamorphic robot systems. In this work, we present a scalable distributed reconfiguration algorithm, hierarchical median decomposition, to achieve arbitrary target configurations. Our algorithm...

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Vydáno v:2007 IEEE/RSJ International Conference on Intelligent Robots and Systems s. 4188 - 4193
Hlavní autoři: Ravichandran, R., Gordon, G., Goldstein, S.C.
Médium: Konferenční příspěvek
Jazyk:angličtina
Vydáno: IEEE 01.10.2007
Témata:
Communication system control
Distributed algorithms
Distributed computing
Intelligent robots
Mobile robots
Multirobot systems
Robot sensing systems
Sensor systems
Shape
USA Councils
ISBN:9781424409112, 142440911X
ISSN:2153-0858
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Shrnutí:Distributed reconfiguration is an important problem in multi-robot systems such as mobile sensor nets and metamorphic robot systems. In this work, we present a scalable distributed reconfiguration algorithm, hierarchical median decomposition, to achieve arbitrary target configurations. Our algorithm is built on top of a novel distributed median consensus estimator. The algorithms presented are fully distributed and do not require global communication. We show results from simulations in an open source multi-robot simulator.
ISBN:9781424409112
142440911X
ISSN:2153-0858
DOI:10.1109/IROS.2007.4399631