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

Author

Ravichandran, Ramprasad ; Gordon, Geoffrey ; Goldstein, Seth Copen

Author_Institution

Carnegie Mellon Univ., Pittsburgh

fYear

2007

fDate

Oct. 29 2007-Nov. 2 2007

Firstpage

4188

Lastpage

4193

Abstract

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.

Keywords

distributed control; mobile robots; multi-robot systems; arbitrary target configurations; distributed reconfiguration; hierarchical median decomposition; metamorphic robot systems; mobile sensor nets; multirobot systems; open source multirobot simulator; scalable distributed algorithm; shape transformation; Communication system control; Distributed algorithms; Distributed computing; Intelligent robots; Mobile robots; Multirobot systems; Robot sensing systems; Sensor systems; Shape; USA Councils;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on

Conference_Location

San Diego, CA

Print_ISBN

978-1-4244-0912-9

Electronic_ISBN

978-1-4244-0912-9

Type

conf

DOI

10.1109/IROS.2007.4399631

Filename

4399631