Title :
Achieving formations under medium access, relative position and velocity constraints
Author :
Vemulapalli, Manish ; Dasgupta, Soura ; Kuhl, Jon G.
Author_Institution :
Dept. of Electr. Comput. Eng., Univ. of Iowa, Iowa City, IA
Abstract :
We consider the distributed control of multi-agent systems that must collaborate to achieve a formation specified by relative positions between agents and a constant velocity. The control law uses information exchange commensurate with redundancy for fault tolerance, is scalable, and respects medium access control (MAC) constraints, that prohibit two agents from simultaneously broadcasting to the same agent. Unlike this paper, our prior work under MAC constraints did not permit the specification of the formation velocity.
Keywords :
access protocols; cooperative systems; mobile robots; MAC constraints; distributed control; fault tolerance; formation velocity; information exchange; medium access control constraints; multiagent systems; relative position; velocity constraints; Automatic control; Broadcasting; Communication system control; Control systems; Distributed control; Fault tolerance; Media Access Protocol; Redundancy; Topology; Velocity control; Automated guided vehicles; Cooperative control; Decentralized control; Fault tolerance; Stability;
Conference_Titel :
Control, Automation and Systems, 2008. ICCAS 2008. International Conference on
Conference_Location :
Seoul
Print_ISBN :
978-89-950038-9-3
Electronic_ISBN :
978-89-93215-01-4
DOI :
10.1109/ICCAS.2008.4694537
