Title:
Multi-Robot Deployment and Coordination with Embedded Graph Grammars

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Smith, Brian Stephen
Howard, Ayanna M.
McNew, John-Michael
Egerstedt, Magnus B.
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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.
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2009-01
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