Distributed estimation and control of swarm formation statistics

被引：52

作者：

Freeman, Randy A. ^{[1
]}

Yang, Peng ^{[2
]}

Lynch, Kevin M. ^{[2
]}

机构：

[1] Northwestern Univ, Dept Elect Engn & Comp Sci, Evanston, IL 60208 USA

[2] Northwestern Univ, Dept Mech Engn, Evanston, IL 60208 USA

来源：

2006 AMERICAN CONTROL CONFERENCE, VOLS 1-12 | 2006年 / 1-12卷

关键词：

D O I：

10.1109/ACC.2006.1655446

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：749 / +

页数：2

共 17 条

[1] Abstraction and control for groups of robots
Belta, C
Kumar, V
[J]. IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 2004, 20 (05): : 865 - 875
[2] BOCHNAK J, 1998, SER ERGEBNISSE MATH, V36
[3] Coverage control for mobile sensing networks
Cortés, J
Martínez, S
Karatas, T
Bullo, F
[J]. IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 2004, 20 (02): : 243 - 255
[4] Fallat S, 1998, ELECTRON J LINEAR AL, V3, P48, DOI DOI 10.13001/1081-3810.10140913.05073
[5] Information flow and cooperative control of vehicle formations
Fax, JA
Murray, RM
[J]. IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2004, 49 (09) : 1465 - 1476
[6] FIEDLER M, 1973, CZECH MATH J, V23, P298
[7] A framework and architecture for multi-robot coordination
Fierro, R
Das, A
Spletzer, J
Esposito, J
Kumar, V
Ostrowski, JP
Pappas, G
Taylor, CJ
Hur, Y
Alur, R
Lee, I
Grudic, G
Southall, B
[J]. INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 2002, 21 (10-11) : 977 - 995
[8] Freeman R. A., 1996, Robust Nonlinear Control Design: State-space and Lyapunov Techniques
[9] Stability analysis of swarms
Gazi, V
Passino, KM
[J]. IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2003, 48 (04) : 692 - 697
[10] Coordination of groups of mobile autonomous agents using nearest neighbor rules
Jadbabaie, A
Lin, J
Morse, AS
[J]. IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2003, 48 (06) : 988 - 1001

← 1 2 →