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
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;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.846379
