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Howard, Ayanna M.

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    Multi-Robot Deployment and Coordination with Embedded Graph Grammars
    (Georgia Institute of Technology, 2009-01) Smith, Brian Stephen ; Howard, Ayanna M. ; McNew, John-Michael ; Egerstedt, Magnus B.
    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.