Self-triggered coordination of robotic networks for optimal deployment

Authors:
C. Nowzari;J. Cortés
Affiliations:
-;-
Venue:
Automatica (Journal of IFAC)
Year:
2012

Citing 11
Cited 1

Centroidal Voronoi Tessellations: Applications and Algorithms

SIAM Review
Parallel and Distributed Computation: Numerical Methods

Parallel and Distributed Computation: Numerical Methods
Coverage for robotics – A survey of recent results

Annals of Mathematics and Artificial Intelligence
Sleep scheduling and lifetime maximization in sensor networks: fundamental limits and optimal solutions

Proceedings of the 5th international conference on Information processing in sensor networks
Introduction to Discrete Event Systems

Introduction to Discrete Event Systems
The Multi-Agent Rendezvous Problem. Part 2: The Asynchronous Case

SIAM Journal on Control and Optimization
Brief paper: Cross-estimator design for coordinated systems: Constraints, covariance, and communications resource assignment

Automatica (Journal of IFAC)
Decentralized, Adaptive Coverage Control for Networked Robots

International Journal of Robotics Research
Uncertain Voronoi diagram

Information Processing Letters
Event-triggered distributed optimization in sensor networks

IPSN '09 Proceedings of the 2009 International Conference on Information Processing in Sensor Networks
Distributed Control of Robotic Networks: A Mathematical Approach to Motion Coordination Algorithms

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

Technical communique: Distributed event-triggered control of multi-agent systems with combinational measurements

Automatica (Journal of IFAC)

Quantified Score

Hi-index	22.15

Visualization

Abstract

This paper studies a deployment problem for a group of robots where individual agents operate with outdated information about each other's locations. Our objective is to understand to what extent outdated information is still useful and at which point it becomes essential to obtain new, up-to-date information. We propose a self-triggered coordination algorithm based on spatial partitioning techniques with uncertain information. We analyze its correctness in synchronous and asynchronous scenarios, and establish the same convergence guarantees that a synchronous algorithm with perfect information at all times would achieve. The technical approach combines computational geometry, set-valued stability analysis, and event-based systems.