Automatic Generation of Persistent Formations for Multi-Agent Networks Under Range ConstraintsReportar como inadecuado


Automatic Generation of Persistent Formations for Multi-Agent Networks Under Range Constraints


Automatic Generation of Persistent Formations for Multi-Agent Networks Under Range Constraints - Descarga este documento en PDF. Documentación en PDF para descargar gratis. Disponible también para leer online.

In this paper we present a collection of graph-basedmethods for determining if a team of mobile robots, subjectedto sensor and communication range constraints, can persistentlyachieve a specified formation.
What we mean by this is thatthe formation, once achieved, will be preserved by the directmaintenance of the smallest subset of all possible pairwise inter-agentdistances.
In this context, formations are defined by setsof points separated by distances corresponding to desired inter-agentdistances.
Further, we provide graph operations to describeagent interactions that implement a given formation, as well asan algorithm that, given a persistent formation, automaticallygenerates a sequence of such operations.
Experimental results arepresented that illustrate the operation of the proposed methodson real robot platforms.



Georgia Robotics and InTelligent Systems Laboratory GRITS - Georgia Robotics and InTelligent Systems Laboratory GRITS Publications -



Autor: Smith, Brian Stephen - Egerstedt, Magnus B.
- Howard, Ayanna M.
- -


Fuente: https://smartech.gatech.edu/





Documentos relacionados