Title:
Multi-Robot Deployment and Coordination with Embedded Graph Grammars
Multi-Robot Deployment and Coordination with Embedded Graph Grammars
No Thumbnail Available
Author(s)
Smith, Brian Stephen
Howard, Ayanna M.
McNew, John-Michael
Egerstedt, Magnus B.
Howard, Ayanna M.
McNew, John-Michael
Egerstedt, Magnus B.
Advisor(s)
Editor(s)
Collections
Supplementary to
Permanent Link
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.
Sponsor
Date Issued
2009-01
Extent
Resource Type
Text
Resource Subtype
Article