Languages, behaviors, hybrid architectures, and motion control
Mathematical control theory
Control Using Logic-Based Switching
Control Using Logic-Based Switching
Distributed Algorithms
A space-time diffusion scheme for peer-to-peer least-squares estimation
Proceedings of the 5th international conference on Information processing in sensor networks
Multi-robot deployment and coordination with Embedded Graph Grammars
Autonomous Robots
HSCC'03 Proceedings of the 6th international conference on Hybrid systems: computation and control
Temporal Logic Planning and Control of Robotic Swarms by Hierarchical Abstractions
IEEE Transactions on Robotics
Distributed Coordination Control of Multiagent Systems While Preserving Connectedness
IEEE Transactions on Robotics
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Many large-scale multi-agent missions consist of a sequence of subtasks, each of which can be accomplished separately by having agents execute appropriate decentralized controllers. However, many decentralized controllers have network topological prerequisites that must be satisfied in order to achieve the desired effect on a system. Therefore, one cannot always hope to accomplish the original mission by having agents naively switch through executing the controllers for each subtask. This paper extends the Graph Process Specification (GPS) framework, which was presented in previous work as a way to script decentralized control sequences for agents, while ensuring that network topological requirements are satisfied when each controller in the sequence is executed. Atoms, the fundamental building blocks in GPS, each explicitly state a network topological transition. Moreover, they specify the means to make that transition occur by providing a multi-agent controller, as well as a way to locally detect the transition. Scripting a control sequence in GPS therefore reduces to selecting a sequence of atoms from a library to satisfy network topological requirements, and specifying interrupt conditions for switching. As an example of how to construct an atom library, the optimal decentralization algorithm is used to generate atoms for agents to track desired multi-agent motions with when the network topology is static. The paper concludes with a simulation of agents performing a drumline-inspired dance using decentralized controllers generated by optimal decentralization and scripted using GPS.