Distributed Control of Robotic Networks: A Mathematical Approach to Motion Coordination Algorithms

  title={Distributed Control of Robotic Networks: A Mathematical Approach to Motion Coordination Algorithms},
  author={Francesco Bullo and Jorge Cort{\'e}s and Sonia Mart{\'i}nez},
This self-contained introduction to the distributed control of robotic networks offers a distinctive blend of computer science and control theory. The book presents a broad set of tools for understanding coordination algorithms, determining their correctness, and assessing their complexity; and it analyzes various cooperative strategies for tasks such as consensus, rendezvous, connectivity maintenance, deployment, and boundary estimation. The unifying theme is a formal model for robotic… 

Interconnected dynamic systems: An overview on distributed control

Control problems such as multirobot control, distributed intelligence, swarm intelligence, distributed decision, distributed cognition, congestion control in networks, collective motion in biology,

Cooperative Control of Networked Robotic Systems

A distributed strategy is developed for networks characterized by convex sensing domains of same orientation, proven to lead anisotropic networks in optimum configurations, considering their sensing footprints, by properly controlling both the nodes’ positions and orientations, via an innovative pattern–based partitioning scheme of the sensed space.

Distributed Motion Constraints for Algebraic Connectivity of Robotic Networks

A distributed coordination algorithm is proposed that allows the robots to decide whether a desired collective motion breaks connectivity and a secondcoordination algorithm is built on this procedure to design a second coordination algorithm that allowsThe robots to modify a wanted collective motion to guarantee that connectivity is preserved.

Distributed Algorithms on Robotic Networks for Coordination in Perception Tasks

This thesis has been focused in identifying the issues that appear in distributed perception scenarios and proposing solutions to all these issues, with a special interest in robots equipped with cameras.

Decentralized connectivity maintenance for cooperative control of mobile robotic systems

This paper presents a completely decentralized control strategy for global connectivity maintenance of the communication graph that exploits decentralized estimation of the algebraic connectivity in the disk communication model.

Layered Control for Cooperative Locomotion of Two Quadrupedal Robots: Centralized and Distributed Approaches

—This paper presents a layered control approach for real-time trajectory planning and control of robust cooperative locomotion by two holonomically constrained quadrupedal robots. A novel

Exploiting Heterogeneity in Robotic Networks

This chapter proposes a prioritized search algorithm combined with communication constraints to provide a decentralized prioritized sensing control algorithm for a heterogenous sensor network that maintains network connectivity and shows a hierarchical approach to optimally allocate the tasks of a mission to specific agents.

Optimization-based distributed safety control with applications to collision avoidance for mobile robotic networks

This paper presents a distributed input rectification methodology to guarantee the safety of a multi-agent system over its pre-given cooperative control task. We start with defining a multi-agent

Distributed robotic sensor networks: An information-theoretic approach

An information-theoretic approach to distributively control multiple robots equipped with sensors to infer the state of an environment using a sequential Bayesian filter and a novel consensus-based algorithm to approximate the robots’ joint measurement probabilities.



Motion Coordination with Distributed Information

This article presents and surveys some recently developed theoretical tools for modeling, analysis, and design of motion coordination algorithms in both continuous and discrete time and pays special attention to the distributed character of coordination algorithms.

On synchronous robotic networks Part I: Models, tasks and complexity notions

This paper proposes a formal model for a network of robotic agents that move and communicate and defines notions of robotic network, control and communication law, coordination task, and time and communication complexity.

Consensus and Cooperation in Networked Multi-Agent Systems

This paper provides a theoretical framework for analysis of consensus algorithms for multi-agent networked systems with an emphasis on the role of directed information flow, robustness to changes in

Special Issue on Control and Optimization in Cooperative Networks

This volume presents 16 papers that deal with a wide range of coordination tasks such as consensus, connectivity maintenance, spatial process estimation, formation stabilization, localization, coverage, and target detection, and the characterization of convergence speeds and the design of algorithms that tolerate delays, noisy measurements, and packet drops.

Distributed algorithms for cooperative control

The authors settle on the computation and control language CCL and illustrate its main features and advantages using a cooperative tracking task and discuss CCL's ability to be a programming language as well as a modeling tool, which lets us directly simulate or execute CCL models.

Multi-Agent Formations and Sensor Networks

  • A. Morse
  • Mathematics
    Proceedings of the 45th IEEE Conference on Decision and Control
  • 2006
Current interest in cooperative control of groups of mobile autonomous agents has led to the emergence of a broad range of exciting technical problem calling for the application of new and

An Behavior-based Robotics

Following a discussion of the relevant biological and psychological models of behavior, the author covers the use of knowledge and learning in autonomous robots, behavior-based and hybrid robot architectures, modular perception, robot colonies, and future trends in robot intelligence.

Decentralized Motion Planning for Multiple Mobile Robots: The Cocktail Party Model

This paper presents an approach for decentralized real-time motion planning for multiple mobile robots operating in a common 2-dimensional environment with unknown stationary obstacles, and suggests a heuristic strategy based on maze-searching techniques.

Abstraction and control for Groups of robots

This paper focuses on planar fully actuated robots and proposes an abstraction based on the definition of a map from the configuration space Q of the robots to a lower dimensional manifold A, whose dimension is independent of the number of robots.

Multirobot Rendezvous With Visibility Sensors in Nonconvex Environments

The perimeter minimizing algorithm is designed using the notions of robust visibility, connectivity-preserving constraint sets, and proximity graphs, and provably achieves rendezvous if the interagent sensing graph is connected at any time during the evolution of the group.