Quantized Coordination Algorithms for Rendezvous and Deployment

  • Authors:

  • Ruggero Carli;Francesco Bullo

  • Affiliations:

  • carlirug@engineering.ucsb.edu and bullo@engineering.ucsb.edu and http://motion. mee.ucsb.edu;-

  • Venue:
  • SIAM Journal on Control and Optimization
  • Year:
  • 2009

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Abstract

In this paper we study motion coordination problems for groups of robots that exchange information through a rate-constrained communication network. For one-dimensional rendezvous and deployment problems with communication path graphs, we propose an integrated control and communication scheme combining a logarithmic coder/decoder with linear coordination algorithms. We show that the closed-loop performance is comparable to that achievable in the quantization-free model: the time complexity is, asymptotically on the size of the network, unchanged, and the exponential convergence factor degrades smoothly as the quantization accuracy becomes coarser.