Jorge Cortés
Professor
Cymer Corporation Endowed Chair
Team-triggered coordination of robotic networks for optimal deployment
C. Nowzari, J. Cortés, G. J. Pappas
Proceedings of the American Control Conference, Chicago, Illinois, USA, 2015, pp. 5744-5751
Abstract
This paper introduces a novel team-triggered algorithmic solution
for a distributed optimal deployment problem involving a group of
mobile sensors. Distributed self-triggered algorithms relieve the
requirement of synchronous periodic communication among agents by
providing opportunistic criteria for when communication should
occur. However, these criteria are often conservative since
worst-case scenarios must always be considered to ensure the
monotonic evolution of a relevant objective function. Here we
introduce a team-triggered algorithm that builds on the idea of
`promises' among agents, allowing them to operate with better
information about their neighbors when they are not communicating,
over a dynamically changing graph. We analyze the correctness of the
proposed strategy and establish the same convergence guarantees as a
coordination algorithm that assumes perfect information at all
times. The technical approach relies on tools from set-valued
stability analysis, computational geometry, and event-based
systems. Simulations illustrate our results.
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Mechanical and Aerospace Engineering,
University of California, San Diego
9500 Gilman Dr,
La Jolla, California, 92093-0411
Ph: 1-858-822-7930
Fax: 1-858-822-3107
cortes at ucsd.edu
Skype id:
jorgilliyo