Distributed Robot Ensemble Control for Deployment to Multiple Sites

@inproceedings{DurrantWhyte2012DistributedRE,
  title={Distributed Robot Ensemble Control for Deployment to Multiple Sites},
  author={Hugh F. Durrant-Whyte and Nicholas Roy and Pieter Abbeel},
  year={2012}
}
We address the ensemble synthesis of distributed control policies to allocate a team of homogenous robots to a collection of spatially distributed tasks. We assume individual robot controllers are derived via the sequential composition of individual task controllers and develop an appropriate macroscopic description of the team dynamics. A feedback control strategy is synthesized using the macroscopic model to enable the team to maintain a desired distribution of robots across the various tasks… CONTINUE READING

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