DocumentCode
2057656
Title
A framework for decentralized control of autonomous vehicles
Author
Stilwell, Daniel J. ; Bishop, Bradley E.
Author_Institution
Syst. Eng. Dept., US Naval Acad., Annapolis, MD, USA
Volume
3
fYear
2000
fDate
2000
Firstpage
2358
Abstract
Decentralized control of multiple mobile robots for cooperative tasks often requires not only environmental sensing but communication among the robot subsystems. In this work, we develop observer-based methods for characterizing the implicit and explicit communications required for a swarm of robots to successfully achieve classes of control objectives
Keywords
cooperative systems; decentralised control; mobile robots; multi-robot systems; vehicles; autonomous vehicles; cooperative tasks; decentralized control; environmental sensing; multiple mobile robots; observer-based methods; robot subsystem communication; robot swarm; Bandwidth; Communication system control; Control systems; Distributed control; Mobile communication; Mobile robots; Observers; Remotely operated vehicles; Robot kinematics; Robot sensing systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location
San Francisco, CA
ISSN
1050-4729
Print_ISBN
0-7803-5886-4
Type
conf
DOI
10.1109/ROBOT.2000.846379
Filename
846379
Link To Document