Multi-robot deployment and coordination with Embedded Graph Grammars

Authors:
Brian Smith;Ayanna Howard;John-Michael Mcnew;Jiuguang Wang;Magnus Egerstedt
Affiliations:
School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, USA;School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, USA;Department of Electrical Engineering, University of Washington, Seattle, USA;School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, USA;School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, USA
Venue:
Autonomous Robots
Year:
2009

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Abstract

This paper presents a framework for going from specifications to implementations of decentralized control strategies for multi-robot systems. In particular, we show how the use of Embedded Graph Grammars (EGGs) provides a tool for characterizing local interaction and control laws. This paper highlights some key implementation aspects of the EGG formalism, and develops and discusses experimental results for a hexapod-based multi-robot system, as well as a multi-robot system of wheeled robots.