Jorge Cortés
Professor
Cymer Corporation Endowed Chair
Coordinated control of multi-robot systems: a survey
J. Cortés, M. Egerstedt
SICE Journal of Control, Measurement, and System Integration 10 (6) (2017),
495-503
Abstract
Recently, significant gains have been made in our understanding of how
multi-robot systems work, and such systems have been deployed in
domains as diverse as precision agriculture, flexible manufacturing,
environmental monitoring, search-and-rescue operations, and even
swarming robotic toys. What has enabled these developments is a
combination of technological advances in performance, price, and scale
of the platforms themselves, and a new understanding of how the robots
should be organized algorithmically. In this paper, we focus on the
latter of these advances, with particular emphasis on decentralized
control and coordination strategies as they pertain to multi-robot
systems. The paper discusses a class of problems related to the
assembly of preferable geometric shapes in a decentralized manner
through the formulation of descent-based algorithms defined with
respect to team-level performance costs.
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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