DocumentCode
81604
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
Volume
31
Issue
2
fYear
2015
fDate
Apr-15
Firstpage
489
Lastpage
493
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;
fLanguage
English
Journal_Title
Robotics, IEEE Transactions on
Publisher
ieee
ISSN
1552-3098
Type
jour
DOI
10.1109/TRO.2015.2397771
Filename
7050337
Link To Document