DocumentCode
2261667
Title
Distributed estimation and control of swarm formation statistics
Author
Freeman, Randy A. ; Yang, Peng ; Lynch, Kevin M.
Author_Institution
Dept. of Electr. Eng. & Comput. Sci., Northwestern Univ., Evanston, IL
fYear
2006
fDate
14-16 June 2006
Abstract
We describe distributed estimation algorithms that allow robots in a communication network to maintain estimates of summary statistics describing the shape of the swarm. We show that these estimators, combined with motion controllers implemented on each robot, result in the swarm formation statistics being driven to desired values in the presence of a changing network topology and the addition and deletion of robots
Keywords
distributed control; mobile robots; motion control; multi-robot systems; position control; statistics; topology; communication network; distributed control; distributed estimation; motion control; network topology; robot swarm; summary statistics; swarm formation statistics; Communication networks; Communication system control; Control systems; Distributed control; Higher order statistics; Motion control; Motion estimation; Robot sensing systems; Shape; Statistical distributions;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2006
Conference_Location
Minneapolis, MN
Print_ISBN
1-4244-0209-3
Electronic_ISBN
1-4244-0209-3
Type
conf
DOI
10.1109/ACC.2006.1655446
Filename
1655446
Link To Document