Title :
Multirobot Control Using Time-Varying Density Functions
Author :
Lee, Sung G. ; Diaz-Mercado, Yancy ; Egerstedt, Magnus
Author_Institution :
Dept. of Electr. & Comput. Eng., Georgia Inst. of Technol., Atlanta, GA, USA
Abstract :
An approach is presented for influencing teams of robots by means of time-varying density functions, representing rough references for where the robots should be located. A continuous-time coverage algorithm is proposed and distributed approximations are given whereby the robots only need to access information from adjacent robots. Robotic experiments show that the proposed algorithms work in practice, as well as in theory.
Keywords :
density functional theory; multi-robot systems; time-varying systems; adjacent robots; multirobot control; rough references; time-varying density functions; Approximation algorithms; Approximation methods; Density functional theory; Mobile robots; Robot kinematics; Robot sensing systems; Coverage control; multirobot teams; time-varying density functions;
Journal_Title :
Robotics, IEEE Transactions on
DOI :
10.1109/TRO.2015.2397771
