Title :
Fully distributed redeployment algorithm for multi-robot system
Author :
Mabed, Hakim ; Lakhlef, Hicham ; Bourgeois, Julien
Author_Institution :
FEMTO/DISC, Univ. of Franche Comte, Montbeliard, France
Abstract :
Cooperative and distributed relocation strategy of multi-robot systems is a critical matter in self-reconfigurable modular robotic systems. In this paper, we depict a flexible distributed redeployment algorithm to relocate a large collection of micro-robots according to a list of desired final positions. Our algorithm is based on novel mechanisms reducing the need for global synchronization. The focus is made on the cooperative aspects that control all robots, each one animated by an individual objective, and collaborates in order to achieve the relocation objective. We show results from simulations on an open source multi-robot simulator.
Keywords :
microrobots; multi-robot systems; position control; synchronisation; fully distributed redeployment algorithm; global synchronization; microrobots; multirobot simulator; multirobot system; relocation strategy; self-reconfigurable modular robotic systems; Integrated circuits; Multi-robot systems; Distributed algorithm; modular micro-robots; self configuration; shape shifting;
Conference_Titel :
Network Games, Control and Optimization (NetGCooP), 2012 6th International Conference on
Conference_Location :
Avignon
Print_ISBN :
978-1-4673-6026-5
